This is a link to the 4061 P.A.R.T SciBorgs 2016 Stronghold C++ Robot code.
http://sciborgs4061.com/firmware/
One tar ball is the code we finished the 2016 season with and the other link is the result of some cleanup during the off-season to make some improvements we wanted after working with the code over the season.
There is always more to do but we will just have to wait till the season starts at this point. Let us know if you have any questions about the code. Constructive Feedback is welcome! Good luck in 2017!