[Ipiano]

I would HIGHLY recommend using the command-based pattern, alongside the RobotBuilder program.

RobotBuilder can be found in the SunSpotFRCSDK directory under the user directory on the C Drive, in the tools folder. The program itself allows you to define the hardware and "commands" you will have, and then it generates the "skeleton" code which has all of the constructors for everything, and all that's left to do is write the logic that runs it how you want. In addition, the program automatically sets up everything so that you can use the smartdashboard (also in the tools folder) and put the robot in "test" mode(an option like teleop or autonomous) and manually drive/test all sensors and actuators.