This paper is a summary of what the team programming mentor considers to be features that other FRC teams may want to look at and use: event logging, data logging, use of the Kauai Labs navX MXP to keep a heading during autonomous, creation of autonomous CommandGroups on the fly, use of the Talon SRX to control mechanism position (with both preset and driver-changed setpoints), and the use of an Arduino at the driver station to select autonomous modes.
https://www.chiefdelphi.com/media/papers/3311