Beast Robotics, Team 2202's code for Recycle Rush is available at:
https://github.com/2202Programming/2015
Code is in C++/WPILib. It was the first year we used mecanum drive.
The team is also in the process of implementing token commands. Kind of like an interpreter. You provide a table of commands, and the program executes them.
In 2015, the team substantially modularized most of the functions which are called by the main process. In 2016, we hope to rewrite the main process to be a command interpreter that will then call each independent module at the appropriate time.