I wrote a lot of code for 1538 last season, and we released it here:
https://github.com/TheHolyCows/1538_2014_Release
Somes notes about the architecture are in the README. Also, check out CowLexer for lexing autonomous scripts - you can write your own finite state machine to parse the tokens it gives you. PM me if you have any questions about our code.
Inheriting from IterativeRobot will help you hit the timings you want. It gives a 100hz loop by default IIRC.