[Greg McKaskle]

To fill in a few additional details.

Three of the templates are virtually unchanged. One of the templates - the Command andControl one - starts with the drive subsystem instead of using robotDrive. The teleOp makes use of the timed commands and so does autonomous. Vision is also treated as a subsystem, but it is essentially unmodified since I think its operations and behavior is just fine using a global or two and doesn't really need commands and state data attached to it. If you wish to have those things, they could easily be added.

Any project that contains a roboRIO can have a subsystem added to it via the wizard that simply templates a folder of code with your subsystem names and attached to typedefs. In other words, you can start from a familiar template and add a subsystem at any time, or not.

Greg McKaskle