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Re: I don't really understand this year's code.
This year's code uses subVIs to separate the code into higher level units called subVIs.
If you haven't already done so, open the Team Code folder in the project, open the context help window, and hover the mouse cursor over each subVI. Begin for example is used to open and initialize I/O for the rest of the program. TeleOp is called each time the robot receives a teleop packet, etc.
Perhaps this will help give you an overview of how the robot code goes back together. Looking at Robot Main may help also, but it is very high level, and you likely do not need to change it.
Finally, you may find the tutorials at LVMastery useful.
Greg McKaskle
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