[Wasabi Fan]

I know this is an old(ish) thread, but surprisingly I don't see any mentions of what my team does, which I think it pretty valuable: we write extensive unit tests. All the code from the motor controllers/DIOs upward can run on a development PC, so we can be confident that our code works even if we can't test it. We write tests to test math helpers, individual commands, command chaining, and overall flow, so all we need to do when we get our hands on the robot is make sure that none of the I/Os were swapped or disconnected. Obviously it's best when we get a good chunk of time for real testing and tuning of PID and such, but we make do when we are low on time with the practice bot.