In my opinion, what works best is to take screenshots and paste them into PowerPoint or Keynote.
With a presentation deck you can make a nice title page, even include team picture and picture of your robot, and label/comment code. For programs that stretch really long you can cut them up and display them like a book (top to bottom, left to right)
You can also scale the code so it's visible to 40 year old eyes (which helps us older folks see what's going on)
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