[protoserge]

First off, this is a great project! I would definitely suggest you do this. It's not anything that hasn't been done before so you should find plenty of information in a quick Google search (remember there is nothing really different between the FRC robot and a robot someone made in their workshop using RC car components - the building blocks are the same. You may want to look at ArduRover and ArduPilot.

There are actually some products readily available to help, such as this shield that interfaces with the digital sidecar <http://www.andymark.com/product-p/am-2258.htm>

I assume you will simply be replicating what the FRC control system does on this old robot, so I would suggest to first list out all the motors, motor controllers, sensors, spike relays and the method which they are controlled in software (PID loop, PWM, Meccanum drive, tank drive, etc.) This will help you build a plan for the pins and the coding.

From there on out, you will be tackling each subsystem: drive, manipulator/shooter/scoring/collecting device, and any other features of the robot in code. I'd focus on getting it controlled one motor controller at a time and work up to more complex loops as your skill increases.

Are you using pneumatics?