After much procrastinating we are pushing out our code.
Main accomplishments this year have been developing and fine-tuning a six cim shifting system, along with auto-shifting based on speed and if we are turning or not. In addition we finally got vision code to work reliably and quickly, which we would use for lining up with gears. In addition, we set-up a profile system to allow driver customization and fine-tuning of how the robot drives.
Below is a google drive link to our code, and it should also be located on GitHub as well.