Since our official competition is over, we are open sourcing our robot and related Java code for others to learn from and so we can reuse it in future years. We use the Command based system and Robot Builder, but our drive code is completely custom.
Robot Code- Nearly full documentation for everything.
- Flexible drive system that makes it easy to implement different drive systems. The mecanum code features support for gyros and wheel encoders, but not everything is fully tested.
- ParameterCommand - allows Commands to have parameters that can be set from the SmartDashboard.
- State machines to control other robot subsystems.
- Semi-functional driver for the ITG3200 gyro (we didn't use it).
- There is a lot of code there (6549 lines at the moment), so I probably forgot to list some interesting things.
SmartDashboard Extensions- Slider - a simple slider control, something that is missing from the built in widgets.
- ParameterCommand - widget that displays the parameters from a ParameterCommand on the robot
- WheelController - Used in conjunction with our drive code to display throttle, current and other values from our motors.
Vision Code- We didn't use vision in competition, but this still has some usefulness.
- VideoServer - allows for streaming of any OpenCV image over http as an mjpg. It could probably use some improvement, but it works okay. It was ported from a (non-FRC) C++ version I wrote earlier, which I released here, in case anyone wants to see it.
I hope someone finds this useful.
Man, what's the point of teaser videos if nobody looks closely at them. - Knufire [more] 
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