This is a link to the 4061 P.A.R.T SciBorgs 2015 Recycle Rush C++ Robot code.
http://sciborgs4061.com/firmware/
The second link on the page is a tar-ball of the 2015 code that we used through the 2015 season.
The first link is a link to a Git repo that has the 2015 off-season work we did where we took the 2015 robot code and generalized it. It works well and will spin motors and read joysticks and sensors…but there is still some more work we want to do with it. As we make improvements we will continue to make releases.
Constructive Feedback is welcome! Good luck in 2016!