291 is proud to release our 2016 LabVIEW code!
It can be downloaded here as a zip file.
Features:
-Take-back-half shooter wheel speed control
-Vision Tracking used to automatically align our turreted shooter. 
-Dynamic breaking on a pivoting intake.
-Autonomous PID using two optical encoders.
-Several Auto Modes
A picture of our robot, Theta, can be found here.
I hope you enjoy! Don’t hesitate to ask questions!