Here at Singularity Technology, we strive to incorporate creative algorithms and a variety of sensors in order to make our robot’s movements as accurate and quick as possible, as well as to improve the ease of use for our drivers during the teleOp phase of the match. During the 2021-2022 season, we  incorporated encoders, gyroscopes, and distance sensors into our driving algorithms in order to increase the precision of our movements; these sensors all operate in conjunction with one another and receive feedback from one another in order to create complex positioning systems. In addition, we used computer vision algorithms developed with the help of such libraries as Google’s TensorFlow, OpenCV, and Vuforia in order to aid in the sensing of objects such as the skystonses. Finally, we incorporated complex Java structures, such as making our programs multithreaded and using abstract classes, in order to increase the number of options we had for our programming architecture.