I've developed some classes throughout the course of build season this year that have extend off some WPILib classes to provide added functionality.
https://github.com/FRCTeam1073-TheFo...ILibExtensions
I pushed them into another repository so that they can be easily cloned if you're interested.
Some features include a base class for stall detection on Jaguars and analog channels, as well as a Joystick extension that provides support for different drive modes.
Check it out! There's a lot more that can be done with this, and my thinking is that a lot of other teams have to frequently build off WPILib to add a feature that they need. If you've done this in the past, please fork and submit a pull request so we can build a more comprehensive library of features that people might need to use. This might be helpful to teams who are tight on time or with rookie programmers.
Good luck in your competitions. 7 days left ...