2481 is releasing our code from our 2016 robot Broadside. New things we did this year include our Auto routine builder, our auto aiming vision code, and our use of measured current draw in place of limit switches on physically constrained mechanisms.
Main Robot Project
https://github.com/Frc2481/frc-2016
BeagleBone Camera Project (Previously Made Public)
https://github.com/Frc2481/paul-bunyan
Let us know if you have any questions.