Here is a link to FRC Team 174s software for the 2015 competition. We are really proud of what we were able to accomplish this year. You can read about some of them in the PDF included on our GitHub.
174 Github
Quick Description
- Java simulator - Unobtrusive "simulator" that can be used with any teams java code. It sounds like we took a similar approach to what team 254 did
- Custom SmartDashboard widgets - Custom widgets to show robot state, motion profiling state, and our autonomous editor
- Autonomous Scripting - Command based autonomous scripts. Stored as text files on the robot, can be edited from the SmartDashboard
- Motion Profiling - I had my students hand roll a simple version for straight paths. We also took team 254's spline library as is.
In developing our software this year, we tried to have a more structured design process. We made a design notebook for our entire robot which will be released at a later date, including class diagrams and sequence diagram. We used the Agile methodology to develop our software, which worked quite well with the structure of a FIRST season and our constantly changing requirements
We owe a huge thanks to my friends on FRC558 for being our beta testing guinea pigs. They provided us with some helpful feedback, and said that our tools were very helpful for them during the season.
If you have any questions, feel free to ask. We are hoping to get a lot of feedback to further improve ourselves for next year.
- PJ
Generally, when you do something stupid and unsafe, it isn't the best idea to go and tell thousands of people on CD about it. :rolleyes: - Cory [more] 
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