http://servb.ath.cx:3445/~luke/1024/Brooke-wch.zip
Look in `Autonomous.java'
I know that we have totally rewritten all 3 autonomous zones since I uploaded that, however that URL will always point to the latest copy online. I don't seem to have the latest copy on this computer, but I'll upload the new stuff once I have access to the one that does.
[edit]I uploaded the code we were running by the end of our last regional (we haven't touched it since). The only real issue with it is that we got lax on the Javadocs[/edit]