---
title: "Software Developer, WEFirst Robotics"
type: experience
id: wefirst
description: Nathan's work on the swerve drive, closed-loop control and CAN bus drivetrain for Western's robotics team.
dates: "Jan 2026 to Apr 2026"
role: "Software Developer"
tags: [robotics, control, can-bus]
related: [index.md, ../skills.md]
updated: 2026-10-16
---
Dates: Jan 2026 to Apr 2026
Role: Software Developer
Location: London, ON
Summary: Programmed the swerve drive to turn Xbox controller input into omnidirectional motion, tuned closed-loop control, and assembled the CAN bus drivetrain.

# Software Developer, WEFirst Robotics

WEFirst is Western's competitive robotics team, and Nathan worked on its swerve drive from Jan to Apr 2026. He wrote the control code and helped assemble and wire the drivetrain.

## Swerve drive code

He programmed the swerve module to turn Xbox controller inputs into smooth omnidirectional motion.

## Hardware

He assembled and wired the swerve drivetrain, including CAN bus integration, motor controllers and encoder calibration.

## Control

He developed and tuned closed-loop control for wheel heading and drive velocity in autonomous and teleop modes.