Last year, after losing our code one too many times we decided to move our code to a remove svn repo. (We use google code, they'll give you hosting for free.) I thought I'd post the url here in case anyone wants to look through it. Newbies, feel free to use it for inspiration; advanced users, feel free to critique, comment, and ask questions as well. Most of the meat of the code is in "teleop.dev.c".
It's up here:
http://code.google.com/p/team5ftc/

It's still a WIP at the moment, some of the hardware still isn't built yet...

Have fun!
--Nathan

P.S. I'll post a picture of the robot later maybe, the code would make more sense that way probably

Edit: Details.