Please note that the content contained in this document is out-of-date for the current competition season. Please feel free to use it as a reference moving forward.
This is a paper that contains routines I wrote as lead programmer for my FIRST team. This is the way that the code worked for me. It also acts as a tutorial for some elusive properties and features that new programmers may not know. There are also programs that were used in the 2010 for our robot for the game BREAKAWAY.