Our code for DHVS (Dougherty Valley High School VEX Tournament) underwent last-minute changes. Originally we had planned on using an adjustment algorithm, but it was inconsistent: some days it would work really well and others it would keep on increasing the power and all the balls would overshoot. We had to revert back to old code the day before the competition.
Our old code uses a simple holonomic drive for the chassis and forward and backwards buttons for the intake. The flywheel has two modes that can be set by pressing buttons, fine adjustment buttons that allow you to manually change the speed in small increments, and a buttons to turn the flywheel on and off.