For the FTC Centerstage competition, I initially developed a pivot arm using the Studica drivetrain system, which allowed rapid prototyping and reliable performance during early matches. This setup helped our team quickly test core mechanisms and strategies. Building on that, I designed and fabricated a fully custom aluminum arm assembly to improve precision and durability. The new design features a transfer mechanism that coordinates two arms—one fixed and one turret-mounted—allowing greater reach and versatility in scoring tasks. The turret arm can rotate independently, enabling complex manipulation without repositioning the whole robot. I engineered the system with lightweight aluminum for strength and speed, integrated precise motor controls, and optimized sensor feedback for autonomous operation. Additionally, I implemented Pedro Pathing with spline trajectories for the autonomous period, enabling the robot to follow smooth, optimal paths that maximize scoring efficiency. This custom arm and advanced pathing significantly enhanced our robot’s functionality and competitive edge throughout the season. My contributions in mechanical design, programming, and iterative testing were key to achieving reliable performance in regional competitions.