Hello, Chief Delphi community! We are excited to kick off another exciting season and share our journey with you. Last year, as part of the open alliance, we shared our build progress throughout the season. This year, we’re taking it a step further by journaling our entire season’s progress, and we can’t wait to bring you along for the ride.
Our 2025 season began with a leadership retreat that set the tone for the year ahead. Here’s a glimpse into what we accomplished:
Overview
Our Team SCREAM Guiding Principles consist of our mission, values, vision, theme, and season goals. These elements are designed to guide our actions and decisions, ensuring that everything we do is meaningful and purposeful, rather than just words on paper for show. They serve as a foundation for our team’s culture and aspirations, helping us stay focused on what truly matters.
Mission (Who we are)
Our mission defines who we are and what we strive to achieve. It encapsulates our commitment to developing leaders, shaping futures, and building robots.
Values (What we stand for)
Our values represent the core principles that guide our behavior and decisions. They define what we stand for as a team and how we interact with each other and the world.
Vision (Where we are going)
Our vision outlines our aspirations and long-term goals. It sets the direction for where we want to go and the impact we aim to have.
Theme (Focus for the year)
Our annual theme helps us focus our efforts for the season. This year’s theme, #Legacy, emphasizes the importance of building resources, maintaining a strong reputation, and extending our reach.
As we embark on our 2025 season, we have set ambitious goals to guide our efforts and measure our success. Here are the team and performance goals we have established for this year:
Team 4522
Team 4766
Throughout the off-season, our team has been incredibly BUSY! Each sub-team has dedicated their efforts to various projects aimed at achieving our goals for the upcoming season. This post highlights the diverse initiatives we are pursuing during this off-season.
Engineering
Programming
Strategy
Biz/Comm
Our engineering team consistently seeks new projects to expand our understanding of different subsystems. Here are some R&D projects we’re focusing on this season:
Pivot mechanism
Extending intake
CNC router repair
Chassis development
We aim to continually add to our project list to enhance our knowledge base. Each of these initiatives is designed to improve our robots, making them more efficient and reliable.
On our 2024 robot we ran into several mechanical problems but one of our biggest unresolved issues was our shooter pivot. We have decided to take some inspiration from Ratchet Rockers (1706) and Spartan Robotics (971) to come up with a solution for this. We will mount Team SCREAM Jr’s shooter to the newly designed herringbone pivot mechanism that will be 3D printed and have minimal backlash.
In recent years as a team we have pushed away from pneumatics, weakening our design talents for extending intakes. This offseason we are designing, building and implementing an extending intake that will be motor driven; something we have yet to do as a team. Taking inspiration from Mechanical Advantage (6328) and Citrus Circuits’ (1678) 2024 robot, we are reverse engineering our own version of it.
We have a 50x50 Velox CNC router and last season we had a lot of problems with the control system. Since they are no longer in business we decided to replace the controller with an AVID CNC plug and play controller. This upgrade has required modifying limit switch wiring and the spindle VFD controls. We have it up and running now but still need to make some small updates to have it back to 100% functionality. Our Omio has been working great as our second router.
We decided to add two additional swerve chassis bases to allow for more practice. Additionally these drive bases will be equipped with subsystems from our off-season to allow for programming to gain more experience with these subsystems.
Last season was a significant turning point for our programming team. We made several changes and additions, such as:
Command-based structure
Full-field localization
PathPlanner integration
Single driver control system
(Attempting) logging
We learned a lot in doing all of these things, and we intend to build on what we’ve learned and implement that in the future (plus a few new things). Moving forward, our priority is to create modular, well-documented systems that can be easily assembled into functional robots. This will give us a solid foundation and free up time to focus on developing complex high-level systems.
As stated previously, last season was our first time using this structure, and we were still learning how to best use it during the season. This led to a lot of inefficient and confusing code that was hard to manage with the three-state system of command classes. While there still may be valid cases where a class is more fitting, moving forward, we’ll primarily use command compositions and factories to write complex commands, due to their self-documenting nature. This will decrease command verbosity and make complicated actions much easier to understand.
A major problem in our previous subsystem structure was the amount of duplicated code cluttering each subsystem. This made it very difficult to manage each subsystem and created confusion, especially when subsystems had methods with shared names, but different functions. To fix this, we’ve created the TalonFXSubsystem base class. This class will:
Provide a consistent code structure for each subsystem.
Offer basic methods for simple motor control.
Simplify the configuration process for new subsystems.
While this class is generalized enough to handle most cases, it doesn’t cover everything. Complex mechanisms that want tighter integration (ex. Multi-DOF arm) would struggle if they were to purely use this class. In the future, we’ll be developing mechanism-specific base classes with more complicated functions to combat this.
Last season, we attempted logging with AdvantageKit, but faced challenges due to its complexity. Moving forward, we’re exploring alternatives like DogLog and a custom solution utilizing WPILib’s DataLogManager. Our main criteria for logging is simplicity, specifically solutions that are easy for new programmers to implement and understand without major guidance. Currently, we’ve determined DogLog is the best solution, as it has a very straightforward implementation with minimal boilerplate code compared to DataLogManager.
Traditionally, we have separated our controls to a driver and operator. The driver would use a controller, and the operator would use a button board/controller. Last season before Champs, after seeing the success of Ratchet Rockers (1706) and OP Robotics (2056), we explored switching the primary controls to a single controller and keeping backup/override controls on a button board. We determined this was more optimal for the following reasons:
It allows the driver to make decisions faster.
It removes miscommunication issues when coordinating robot actions.
It frees up a drive team member for an additional drive coach or human player.
It simplifies controls training.
We still had backup controls and our secondary drive team member was trained to use them if needed.
We intend to continue to use and develop this system in the future, assuming the game allows for it. To implement this effectively, we need to:
Increase automation. This means mechanically integrating more sensors, then using them effectively in code.
Determine the most efficient control scheme.
Integrate backup/override controls to minimize dependency on secondary drive team member.
During the season, we waste lots of valuable programming time simply because we don’t have a robot to program. Using WPILib physics simulations, we can accurately model robot subsystems without a physical robot. This will help us use our time effectively by allowing us to:
Test autonomous routines
Develop ideal controls
Develop complex subsystem integration
Debug problems without risking robot hardware
Test pretty much anything else
To learn how to implement simulation effectively, we developed a full robot simulation for our 2024 robot, AXL, in our offseason code. It includes:
AXL’s CAD imported into AdvantageScope for subsystem visualization.
Fully dynamic drivebase, elevator, shooter, and stabilizers.
Complete functionality for complex actions, like picking up and shooting notes.
We’ll be implementing simulation in the future to help us develop things like autonomous routines and high-level systems that require lots of testing to get right.
The Strategy team has been diligently working this off-season to enhance our team’s efficiency and prepare for the upcoming season. Here are some initiatives they’ve undertaken:
Meeting task tracker
Development of a new scouting app
Restructuring scouting meetings
To improve our team meetings, the Strategy team has developed a tracking system to optimize meeting flow. Inspired by the Blazing Bulldogs (581), we’ve created our own meeting tracker:
This tracker enables:
Optimized meeting times.
Documentation of our activities throughout the season.
Monitoring the status of each project.
For the upcoming season, we will be developing a web-based scouting application to improve our scouting capabilities. To learn how to do this, we’ve remade our 2024 scouting app with some new features, including:
QR codes.
Heatmaps for shooting locations.
Time stamping for autonomous routines.
Offline usage capabilities.
Expanded super scouting information.
Recognizing the need for better organization, we have restructured how our scouting meetings will be conducted at competitions, ensuring a more efficient and effective process.
The Biz/Comm team has also been hard at work this off-season, focusing on strategies to achieve our season goals. Their recent initiatives include:
Asana for project management
Expansion teams
We are utilizing Asana to manage our projects and streamline documentation. All planned projects will be listed in a project backlog divided into three categories:
Backlog
In Progress
Completed
This new management system enhances our ability to visualize and organize projects, facilitating better documentation and resource expansion. Here is a picture of our engineering project backlog:
We have leveraged our recent success to gain approval for new expansion teams from our district expanding from 3 FIRST teams to 15 FIRST teams and 6 VEX teams for the 2024-2025 season. These teams provide students at all levels the chance to engage in STEAM, mentored by Team SCREAM and Team SCREAM Jr. students.
One of our primary focuses this year is to expand our resources, not just for our team but for many others as well. We will continue to post updates every two weeks on our projects and initiatives to prepare for a successful season. Stay tuned for more updates and feel free to reach out with any questions!
Students contributing to this thread include:
Morgan - Team Captain
Jaimeson - Engineering Lead
Jackson - Programming Lead
While we put lots of effort into robots, the “business end” of the team is equally if not more important. This post will highlight a few aspects of the composition of our team, and go deeper into what happens behind the scenes.
Our team consists of 60 total members, including 20 new members this year. A significant portion of our team are seniors, which is why we’re focusing heavily on knowledge transfer to ensure our legacy continues. Here’s our current breakdown:
These students are divided into sub-teams, of which we have 6. Certain sub-teams are also divided between 4522/4766. These are:
In addition to our sub-teams, we have a leadership team, which consists of 15 total members representing each sub-team.
We have a very in-depth recruitment process, which ensures we’re taking on the best members we can:
We start by advertising our team during the beginning of the school year. This advertisement takes many forms, such as:
Our main goal is getting our name out there to as many students as possible and explain what we do at various events.
Students who are interested in the team are required to attend our open house. During our open house, we’ll give them a tour of the workspace and the functions of each sub-team. This not only helps us judge potential members of the team, but also allows them to find what sub-team they’re interested in.
Students have the option to attend a trial night, where they will get an in-depth tour of their chosen sub-team. This is very useful in judging potential members, as it allows us to see how they react in real learning scenarios they might experience on the team.
Interested students will fill out an application with various questions that help us determine their eligibility with different factors (other sports/activities, previous classes), and lets us get to know them better. Due to the amount of students we have, this is a competitive application process, so students are encouraged to present their skills.
After applications are closed, we interview each person to learn more about them. We evaluate them on a variety of factors, such as:
When interviews are complete, we determine the amount of members we can take for each sub-team, then determine the best choices to fill those slots. Those choices are then accepted on the team!
Our event schedule revolves around the Central Missouri Regional, which is our home event. We try to attend up to 3 regional events per year, plus the World Championship. We also try to avoid scheduling back-to-back events, in the interest of “recovery time”. We follow a two-year cycle:
We select three regional events, including the Central Missouri Regional, with all locations kept close to Missouri. Both Team SCREAM (4522) and Team SCREAM Jr. (4766) participate in each regional, which gives more experiences for our junior team members. Historically, these events have been:
We attend the Central Missouri Regional and another nearby regional where both teams participate. For the third regional, only Team SCREAM (4522) attends a “destination” event in a location farther away. This is designed to be a privilege for members on 4522, as well as a way to learn new things in places we don’t typically go to. Historically, these events have been:
We like to go to a new destination each time to provide unique experiences for our students. This year is a destination trip year and we are hoping to get into a California regional. 
In addition to the funds our school district provides, we also have a 501c3 board of directors that do the majority of the fundraising for the team. They acquire sponsorships from local businesses and apply for grants to raise funds that help eliminate student fees. Our team is very fortunate to have over 50 sponsors.
We recently hosted a sponsorship event that helped raise money for the team and allowed us to give back to our sponsors. We provided dinner and fundraising opportunities through games and a silent auction. Our ways of recognizing sponsors change based on their level of contribution. Examples include a banner in our pit for lower tiers, a sponsor’s name on our t-shirt for higher tiers, and listing a sponsor as part of our team name at the highest tier. We have uploaded an example of our Team Brochure and Sponsorship Sign-Up Sheet. Feel free to copy and edit for your own team.
About Team SCREAM.pdf (1.3 MB)
Team SCREAM Sponsorship Sign Up Sheet.pdf (227.0 KB)
Our programmers have been hard at work on software projects since our last programming update. Here’s some insight into what we’ve been working on:
Each year, we find ourselves rewriting code we’d already created, often without realizing it. Previously, we would copy a shared folder of common code into each new project. While this worked, it created challenges with version control and made it difficult to ensure consistency across codebases.
To solve this, we developed SCREAMLib, a centralized repository for all our reusable code and libraries. By using JitPack, we can easily integrate SCREAMLib into new projects and manage versions more effectively.
In addition to just storing code, SCREAMLib gives us a place to document and refine it, ensuring that we don’t lose valuable work from one year to the next. This saves us time, reduces redundancy, and helps us focus on innovation instead of re-inventing the wheel each season.
As we revamp our code structure, we’ve started focusing on creating clear, approachable resources to help new students understand and adopt our coding practices. To achieve this, we’ve started developing example projects that illustrate our desired structure:
Based on the 2022 game Rapid React, this project demonstrates how to manage a system for intaking, indexing, and shooting cargo balls. It focuses on showing how these systems would need to interact, and how our new code structure helps facilitate that. This is a beginner-friendly project, so it focuses on core concepts and avoids advanced functionality like simulation.
Based on the 2023 game Charged Up, this project simulates a robot with a multi-jointed arm controlled via inverse kinematics. Our team has never done a multi-jointed arm, so this project provides both a learning experience and an opportunity to explore advanced functionality.
These projects are designed to bridge the gap between theory and practice, which will help our team in the future when considering and learning these systems.
As always, feel free to ask any questions!
During the summer off-season, our leadership team made a big decision: to start the application process for Impact. Since that time, we’ve been hard at work to lay a solid foundation for our application, and we’re excited to announce the formation of our dedicated Impact Team.
Since the beginning of this project, our newly formed Impact team has been working very hard to build up a strong base for our application. We would like to extend our special thanks to Teams 321 (Robolancers), 2468 (Team Appreciate), and 3284 (Camdenton LASER) for their incredible mentorship and guidance through the process. Their willingness to share knowledge and answer our questions has gone a long way in helping shape our process. Your support has been invaluable!
One of our most notable advancements is the significant expansion of our robotics programs. We are proud to announce the addition of:
This expansion brings us to 21 robotics teams in our school district. This is a major milestone that we are very proud of, and it’s a giant leap in our quest as a program to provide as many students as possible the opportunity to participate in STEM.
As part of our commitment to giving back to the FIRST community, we are excited to announce a new initiative: SCREAM Support. Our students are hard at work creating a mobile resource cart stocked with tools and materials that teams can use at events. Staffed by experienced students, SCREAM Support will also provide technical assistance and support. SCREAM Support will be on-site at the Central Missouri Regional and the Oklahoma Regional. If you need any assistance just SCREAM for help!
As we continue to grow and develop these initiatives, we are excited about the opportunity to amplify our impact within the FIRST community and beyond. This is just the beginning of our journey, and we look forward to making meaningful contributions to the robotics community.
Stay tuned for more updates!
This offseason, our lead engineers have been hard at work designing a chain driven turret. We started this project because our team has never designed a competition-ready turret, so we wanted to develop a good example of a turret we could reference in the build season.
Our lead engineering students created a full write-up that provides more information about the parts and the Chinese Remainder Theorem. Onshape link is posted as well.
OA Copy of Turret Write-Up.pdf (5.4 MB)
*Disclaimer- This is not fully built yet.
That energy chain CAD is gorgeous! How did you guys CAD it?
We imported a single link from West Coast Products and then assembled the links into the starting shape that we wanted. We originally attempted to have the energy chain move with the turret but ultimately decided against it when our assembly lagged out multiple times.
We had a group of students research the new bumper rules and explore different methods of foam layup. Here are some photos of some of our samples and a write-up of our procedure. We will most likely be using the bridle joint method shown in the first two photos.
Bumpers.pdf (4.7 MB)
“The foam we chose had a density of 2.2LB just like the pool noodles we have used in previous years.”
Which pool noodles did you used to use and did you measure this density or was it a specification?
We used these from amazon the past couple of seasons.
https://www.amazon.com/gp/product/B0B47H5CL4/ref=ppx_yo_dt_b_search_asin_title?ie=UTF8&psc=1
We did not do any density measurements on the noodle, the students compared the noodles to the 2.2 lb foam and determined that they were similar in density/feel.
Those are the same noodles we used as well, I did some quick measurements and only got 1.15-ish lb/ft^3 which seems too small to me.
Without knowing 2025 rules, legal minimum radius corner according to the blog posts seems to be 1.25” (mimicking vertical pool noodle)
The radius in these foam lay-ups appears to be ~2.5”.
Something to consider, hopefully the real rules make all of this much clearer! Awesome doc.
-Mike
After your testing do you think you will be going with vertical layering or horizontal?
Horizontal.
I just realized I missed the PDF.
Did you like that foam?
Yes, so far. We’re going to keep testing be open to other materials, but this one is promising.
