[apalrd]

There are a couple tricks you missed:

Threading. The ability to run each sub-system in it's own thread gives you two things: Independent loop cycle timing (some things that are higher priority can update at the same rate as the Victors/Jaguars, while lesser things can run slower (flashing lights or Dashboard comm). When running multiple threads, you can pickup and scale user input data in Teleop (e.g. take the distance slider, and scale it to feet) and pass it to the parallel thread using either RT-FIFO or Global variables.

OpenG has a rising/falling edge trigger, among a GIGANTIC list of helpful VI's.

State-machines. These are HUGE. You can describe the process of creating an enum. control and using that to select states in a case structure. Very useful for things like kicker sequencing or multi-position arms.