Our code for this year can be found on GitHub:
https://github.com/applepi-2067/Robot-2015
The most interesting parts are the Swerve Drive folder, and the AppleScript folder.
For a powerpoint explanation of the Swerve code:
https://drive.google.com/open?id=0By...3lzdEJiclpMRTQ
AppleScript is a scripting language that is used to rapidly develop autonomous code, and is then executed by an interpreter in LabVIEW. The script is stored on the driver station computer, and is sent to the robot over network tables whenever an update is made.
To view what this scripting language looks like, open up
autonomous.apple.
FRC isn't for every school; it takes a lot of drive just to fundraise every year. It is a premium program that requires a premium about of effort to sustain and be successful. And man is it fun to do. - JesseK [more] 
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