I've uploaded my "Big Bots on a Budget" presentation that explains the control system... check out the link in the last paragraph of this document.
http://hbridge.ca/wp/?p=98 It will be fairly basic information to an experienced FRC'er, but might suggest some ways to leverage all the old motors and stuff stored away in the back room and turn it into an off-season project.
I've also linked to a nice story about three siblings... brother and two sisters, who are graduating from our program this year.
http://globalnews.ca/video/1997540/bcit-competitors/
Jason