[Caleb Fulton]

You can still read through their code and gain from it, especially the well-designed state machines and conventions used for the RS-232 driver they wrote and how they interface the driver with the camera. They did an amazing job of separating concerns -- keeping the implementation of the autonomous functions completely separate from the functions themselves, such that only VERY little knowledge of the inner-workings of the functions is needed in order to use them. We spent A LOT of time last semester in advanced C learning methods for doing this, and I suspect that it is a valued attribute of any large software programming environment in the "real world."

I agree somewhat with you all, though, that something as simple as an angular/displacement PID system should have been left to the teams. These are fundamental control topics from which many team members have learned a lot in the past, including myself.