https://code.google.com/p/2013swat-r...e%25 3Dclosed
To check it out, it works best if you have Tortoise SVN (
http://tortoisesvn.net/) and check out from
http://2013swat-robot-code.googlecode.com/svn/trunk/
Admittedly it might be a bit of a spaghetti-like jumble, and it's not documented incredibly well, but it worked. Feel free to ask any questions about what something does or how/why we did something.
We'll try to make it a summer project to retroactively clean it up and comment it better.
Also it was our first year using an SVN system for code management, which was a huge success.