Software Practices
Common themes that apply to robot software development.
Not every practice here is universal (some reflect Team 2702's own needs), but most are general enough to help any team.
Less is more
Don't overcomplicate your code. Start simple, and add complexity in small steps based on what field testing tells you.
Use the components provided by WPILib and the vendor libraries. Write custom code only when no suitable solution exists.
Know when to draw the line: no premature optimization. Once a solution is good enough, move on to other problems, and optimize later if time allows.
Steal from the best, invent the rest
Don't blindly copy-paste other teams' code. It may have bugs or behave in ways you don't expect. Use it for inspiration, but make sure you fully understand what it does and why.
Write your own version after studying someone else's. It tests your understanding and helps you avoid their pitfalls.
Control modes
The team has standardized on the CTRE ecosystem, using Phoenix 6 with Pro-licensed devices. The recommended default is torque-current (FOC) control. See CTRE Control Modes for a full guide.