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573 2015 Final Code
Includes Swerve Code as well as misc. ultilities used by team 573 as of Championships.
Swerve Total is overall Swerve Drive code, includes all required code. Have to change variables for length and with of robot. Arm code is mostly only useful for this year, but the state change snippet (bottom right) is useful. Main teleop code also includes drive mode change code. Various other utilities included in the code (not entirely sure as to what I’ve done).
Code as of end of states.zip (6.73 MB)