The past couple years our team has used command base java to code our robots, but this off season, we decided to code our own scheduler. We did this partly for practice coding in general, and partly because it lets us control absolutely everything. The end result ends up working a lot like the default command base provided by wpi.
Here is the scheduler for our 2016 bot:
https://github.com/Angelbots1339/Scheduler
And here is the scheduler template:
https://github.com/Angelbots1339/SchedulerTemplate