Here's a link to our last years code on github:
https://github.com/BitBucketsFRC4183/FRC2014
I can't remember which branch we ended up with on our robot, but there are a lot of branches and they have different things in them. The names of the branches should help you figure out what's in them.
The code is all written in java and is based on the command based robot template. Most of it works as intended.