This is FIRST Team 604's 2011 robot code, rewritten from LabVIEW into C++ with the WPILib framework.

• Dual-mode arm control, with manual and single-button PID-controlled preset modes, and a button to hold in the current position.
• Gyro-based driving, with one button to face the robot forward, one to face it in the opposite direction, and one to reset the position that is considered "forward".

• Example of a custom PID Source and Output.
• Example of basic drive code.
• Example of compressor/pneumatics code.
• Example of solenoid-based shifter code.
• Control code for a single-jointed arm with a pneumatic gripper and rollers.
• Control code for a pneumatics-driven minibot deployment system.

Licensed under the MIT License.