We've got an in-depth white paper on control systems available right here! We hope it'll be useful!
Custom Tank Tread Drive
We've got a white paper on a custom tank tread drive used in the FRC 2016 Season: STRONGHOLD. It's a cool bit of team history and maybe it'll interest you!
We've got our code for the 2016 FIRST Stronghold Challenge public on our GitHub right now! Take a look at our automatic alignment using vision and our global positioning system that we used at worlds!
Stormgears has developed a modular and expandable Arduino-based multi-controller subsystem network running over I2C to support easy integration of sensors and non-servo control elements into our robots. We used a four-Arduino version for a servo-controlled smart cart to transport our robot.
Take a look!