Re: How does your team architect its codebase?
 

One interesting idea our team implemented this year was functional programming(having functions accept functions as parameters).

This way we could write a ToggleButton function that would take two functions and schedule them to alternate when a button is pressed using the command system.

We could also write things like UntilDistanceTo or TimeSince for autonomous or teleop pseudo-autonomous code.

It made reusing code very easy, as almost any request can be stuffed into a function without modifying the functional code receiving it.