Well, we were going to clean this up for public release, but I guess were too lazy for that...
Of some interest maybe onboard vision processing, in labview. There are some of out bot log files for our matches, which don't do much not knowing the bot, but the code is there to do the recording if interested.
Also there are a wealth of information in the commits, but seeing I just uploaded this from our private stash, you maybe missing gems, like "my hands are typing words."
Anyways, it's out there, and posted in a public forum.
https://github.com/TORC2137