Hello all!
We, Team Appreciate, are releasing the code of our robot, Orion, from the 2015 Recycle Rush competition! That code is attached at the bottom of this post.
We used four AndyMark Swerve and Steer Modules. (am-3009) We used absolute encoders to track the rotation of the steering of each module. We store the starting calibration position value in a file on the roboRIO.
Also in this LabVIEW Project is a beta version of Greg McKaskle's LabVIEW Subsystem framework. We appreciate being given the opportunity to test Mr. McKaskle's framework. The framework is used to conveniently separate the logic of our Drive, Elevator, and Can Burglars.
I have created a simple attached flow chart to document the way in which the code controls the swerve drive.
Enjoy!
We need to all remember we are no better than our fellow man, no matter what job we all hold, what socio-economic status that's involved, or anything. Plain and simple, we're all fellow travelers on this pale blue dot called Earth. - trobots.com [more] 
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