Here is a link to a free LabView toolkit that teams might find helpful for autonomous code (we are using it in ours). One of our software mentors has been working with his employer to make this available online (it had already been something that they give away free), and they finally put it online today.
http://www.jetinc.net/tools
It is free, but it does ask for your email so they can track who is using the toolkit.
Our LabView mentor explains what the toolkit does:
"The toolkit is a custom queued state machine toolkit. a QSM allows the users to very quickly and compactly put together very complex code with small physical footprint by breaking it into multiple cases in a state machine, rather than long chunks of sequential code. The big advantage to an FRC team is that flexibility it allows in the creation of cases that be used in different orders. The order of execution is defined by how you enqueue items into the controlling queue, not the order in which they occurs in the vi themselves."
Hopefully some other teams will find this useful.