[Donut]

I see this as saying you can't copy paste entire control systems from a previous year, not a section (since copying a section and then adding new stuff to it would be classified as "altering" it in my opinion).

If you were to say using any previous year's code was against the rules, that would mean you really couldn't even use past years as reference, since you would invariably end up having at least 1 line in common with it. I think they just want you to figure out how the program works from the past and add your own style to it, rather than importing whole files for drivetrain, arm control, etc.