Here is our code from 2015, Recycle Rush. It is written in C++.
https://github.com/team1868/SCcode2015
This year, for the first time, we used mecanum drive and a "playback" autonomous. To implement a mecanum drive with minimal drift, we placed encoders on every wheel and PIDed each wheel individually. For the playback autonomous, we recorded driver station inputs on a text file in teleop and used the text file to repeat the same sequence of commands in autonomous.
Thanks for taking an interest in our code.