Personally, I've had bad experiences with CommandBase. Things never really worked out and I found it very messy with all the commands scattered around. (
Especially in C++)
Here is a link to one of my more recent copies of the code. Vision processing is done on the DS with RoboRealm which I find far superior to OpenCV since it can be tweaked almost instantaneously. Not all the comments are up-to-date, so some parts may be confusing. Also, our drivetrain motors this year are reversed for some reason. (I'm just a programmer so swapping signs worked.
) This is my first year with Java and any constructive criticism is greatly appreciated.