As to reuse code from year to year I am required by my team to post all of our working code from the end of last year. If you would like help understanding any of it (trust me I know where your coming from) contact me and I will help or I will put you in contact with someone who can help.
http://www.mediafire.com/file/ggq2ag...ghters2016.zip
Enjoy,
Jacob
Team 3173, The IgKnighters
Programing Subteam