I doubt that 190s autonomous code will be of any help to you. Im sure they use totally different methods and variables which will probably take much longer to hack up and change than to just write something for yourself. Another reason being their bot goes straight up the stairs and they have a special system to line up the bot.
Hint: Find your robots speed in Ft/s. Then find how big the circumference of your drive wheels is. Figure out how long it would take to get to get from the starting position to the middle of the field and run a timer to start and stop the motors. (Whether you use the PIC's built in timers or a ghetto one that counts program loops, is up to you.)
for this example, lets say it takes 40 program loops to get to the center of the field.
Code:
drive_motor1=255;
drive_motor2=255;
if(timer>40)
{
drive_motor1=0;
drive_motor2=0;
}
timer++;