Hi, we are making our source code available on GitHub in case anyone wants to have a look. The 2015 and 2016 season's Java code for robot control is there. One somewhat unusual aspect was our attempt at a recordable autonomous mode.
Additionally there's some C code for controlling LED lighting strips on the robot via an Arduino hooked to the CAN.
https://github.com/FRC2832
Peter Zobel
Programming Mentor Team 2832