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Luckily it seems like my team has gotten it together this year and is finally making sure they give the programmers enough time to write and test code.
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Every team I've ever been on (2003, 2004, 2006, 2009, 2010, 2011 so far) has said that. I've never had the competition robot for more than a couple days before ship. Every year, it's "this will be the year the robot is ready for the programmers a week early", and every year it's "oh sorry, we need to adjust this widget or slightly rebuild this whatzit, so you can't program with the full robot".
You can certainly do most of the basic control stuff without the robot (or with a previous-years robot) and we often do, but if you're using any sensors more complicated than a limit switch, tuning things (autonomous/PIDs/vision/linetrackers) is impossible.