This robot was build by my high school robotics team MORT for the 2016 FIRST robotics competition: Stronghold. The robot went all the way to the world championships in St. Louis in Missouri. I acted as software lead for the team where my responsibilities were twofold; training underclassmen in how to use Java as well as leading the development for the software on this robot.
The code is written in Java and is hosted here. We attempted to do Computer Vision with OpenCV but this code saw little time on the field. I wrote a lot of the controls for this robot. The back tail was running a standard PI controller. The wheel that shot out the ball was running a feed-forward PI controller. In autonomous mode the drive train ran a PID controller using input from both encoder and an IMU.