Here is 4776’s official code for 2019!
To manage subsystems and wiring for multiple robots (competition robot, practice robot, basic chassis “Steve”, and a test board), we made classes in the RobotMap for each one, extending a common template for easy swapping out classes. There is a lot of code not used from projects that we eventually gave up on (JeVois Vision, buttons to control elevator height), so I apoligize for confusing code.
Enjoy and good luck in Infinite Recharge!