I'm the teams programmer and since other teams have helped me greatly in past years and this is my first year (been programming for the team since 09) programming the bot in java versus the labview and C++ I've done in past years, I've decided to make our source public!
I threw up the source on my github,
https://github.com/ScriptProdigy/FIRST-2620-2013
Be sure to critic my code! I'm a software developer mainly, not a robotics programmer.