The final version of the code from the Milwaukee Regional. Features stable center peg and baseline autonomous with tuned PID for DriveToPosition. NavX PID is untuned and error values for DriveToPosition need to be tuned. Teleop is stable and reliable. Possible future improvements include replacing the SendableChooser with something more stable, tuning the PID for the navX, making side peg autonomous programs functional and incorporating vision. These are possible and simple postseason projects for the programming team.