Team BLRS is proud to publicize most of the code for Forkner, the 15" Robot used in the 2018-19 Turning Point Season.
The code can be found in the following repo: https://github.com/purduesigbots/forkner-public
The repo features Odometry, RAMSETE control, Linear Motion Profiling + PID, Kalman Filtering, TBH, and more. These advanced controls topics were essential for the success of our autonomous routines which won in 14 of our 15 matches.
Some of the code for the Odometry and the Adaptive Pure Pursuit control has been removed to preserve our competitive edge and prevent copy/pasting code that really ought to be thoroughly learned; you can find resources for developing these algorithms yourself in the papers linked at the top of their source files.