FRC 1024's code since 2009 is at
http://lukeshu.ath.cx/1/FRC/hg/ (well, actually the 2009 code is a Java port of the original LabVIEW code, it's missing autonomous (which wasn't worth porting anyway), and traction control). All of it is Java. 2009 code is GPLv2+, after that it's 3-clause BSD. In 2010-11, there is a .hardware package withing the main package. While largely hardware specific to our robot, there's some generic stuff (some encoder stuff, some IR stuff, some PID stuff). Also, in the 2011 code is an experimental plug-n-play CAN driver, which is nifty, but has not been tested.
I've got the C code from several years before that, but there are a few source files that say they can't be publicly redistributed. One of these days I'll audit them or whatever, and throw them up. If you want to see it, I can send you a private copy, PM me or something.