The default code, from what I understood, focuses on giving you the simplest code to control your robot. It doesn't include other components except those related to the "cart".
Kevin's CMU code takes the default code and adds the camera functions and varibles so you can use them to work on targeting the lights on the rack and using the functions and varibles to do things around the arena(such as going to the spiders).
I'm affraid that using the default code with the camera won't be possible(you'll be controling the tilt of the camera with the Y axis of your joysticks
).
You shouldn't have any problem at all using codes you've written in the default code(and those that actuall worked) and transfer them to the CMU code. The CMU code is there to give your more options.
Hope I helped and good luck!
