Hello everyone,
Here is our semi-recent code from Recycle Rush!
https://github.com/HotwireRobotics/2015FRCRobot
Nothing extremely special about it this year. We used mecanum drive with an option for Field-Centric driving, but the NavX, at the time, wouldn't cooperate with us. We decided on using plain ol' robot-centric instead.
We also attempted to create our own Reset Yaw block for the NavX, but ended up not using it either as it never worked quite how we wanted it to.
We did, however, implement stops on the forks with a large limit switch on the carriage so that it would know it was at "level 1".