Here is the code for Rover.
Source code can be downloaded here.
The robot was coded in Java using the CommandBasedRobot template. This is our team's first year using Java, and we have been extemely satisfied with it and the great libraries put out by Brad Miller and his crew at WPI. CommandBased robot gave us a strong basis to structure our code off of without limiting us at all. We absolutely plan on embrasing it during the season.
The code, although it may look like a lot, is actually fairly simple. The core of it can be found in the Drivetrain subsystem, which uses vector math to allow us to both drive straight in any direction without turning (crab drive) and simultaneously spin about an arbitrary point relative to the robot (snake drive).
Note that there are many features which we developed, but did not have time to test. These are not included in this release.