[Gigakaiser]

-Each subsystem on our robot (turret, drivetrain, ramp device, etc) is an object/class in our code. Each has an "operator_update" function called in teleop where inputs on the joysticks are given - this allows for all calculations and commands to be handled in each class.

Piece of Main Teleop Loop:

     Launcher->UpdateLaunch_Operator(turretStick->GetTrigger(),turretStick->GetRawButton(6));

-An autonomous object is used in our code as well. Inside of the class, the routines are comprised of single-line commands such as "LaunchBall", "GyroTurn(angle)", and "SetWheelState(state)".

-An autonomous routine would look like this:

void AutoController::AUTO_Layup()
{
     Shooter->SetState(state_RPM)
     SetShooter(1550);
     Drive_GyroEnc(.6f,0.0f,450);
     SetTurret(-45.0f);
     IntakeOn();
     FullLaunch();
     WaitForBall();
     FullLaunch();
}

In the main Autonomous Loop:

if(DIP_1 == 1)
{
     AutonController->AUTO_Layup();
}
else.....

-Functions on the robot are all condensed to one-button commands (like the 254 auto-score).

-We use bitbucket for source control.