451 has ours at
https://bitbucket.org/byteit101/logo/src
We have our very good line following code in LineFollowing.cpp with the control in Main.cpp. The strait line code worked 11 of 12 matches at Knoxville (the 1 was my fault, I made it go faster instead of slower), and with tweaking of the height, it works with forking also.
We also have one really nice CAN loop, the minibot deployer motor has two limit switches set up near the end of Main.cpp, and we had a pot control before we removed it due to many issues with the mech (in Forklift.cpp at revision dca663151f5d )