Team 2423 strongly believes in sharing techniques and resources with other teams, and we release our source code out for others to see/use as example code each year. Our team programmed our bot in C++ yet again this year.
This year our code was mostly done by our students (except I went in and cleaned it up a bit). In particular our kicker mechanism and our autonomous mode was almost entirely developed by students, and they did an excellent job. This was our best year yet, we had a very consistent robot.
Some things that are useful to point out that you might be interested in:
- Wheel configuration is 100% compatible with the default kitbot configuration
- Heavily modified the FRC Vision processing code from this year. Vision processing placed in its own low-priority thread (so it sends pictures to your dashboard in disabled/autonomous also)
- Autonomous mode that *used* to rely on vision processing, but our Gyro failed. However, we modified it so it still works (the vision stuff is still in comments). At the Boston Regional we consistently scored 1 or 2 goals autonomously most matches.
- Useful 'NosePointer' class to allow multiple things to control where the robot is pointing via PID control
- X/Y coordinate position tracking using encoders (didn't really use it though, but it mostly works)
- Heavily integrated with WebDMA for more effective tuning/debugging
- BSD-style license, feel free to use our code!
Download it from my website at
http://www.virtualroadside.com/FRC/#Kwarqs2010
According to a 6 year old I once met at a demo, our FRC machine was not a robot because, "How can it be a robot if it doesn't have a face?" - Jared Russell [more] 
Similar Threads
Threaded Mode