No m_ prefix for member variables. Use camelCase for non-types; PascalCase for types. Always use units where reasonable, if possible. Exceptions include PID controllers and other incredibly complex units. Prefer degrees to radians.
Constants are SCREAMING_SNAKE_CASE, and not prefixed with their subsystem. Separate constants files.
Use factory commands if reasonable (methods that return a command). Longer, more sophisticated commands go in their own class. Suffix command classes with Command.
For formatting, if you have clang-format installed you can run clang-format -i src/**/*.java.
Instead of commenting code, prefer using git history.
Use the classes in utils.
For publishers in double/boolean sections, include the units at all times, replacing words like "speed", and be verbose (spaces are ok).
Use "topic" branches, have a trunk dev branch, and main is a stable competition branch. Code reviews are perfomed on every attempted merge, and are discussed in person, if possible.