I'm not a master C programmer yet but when it comes to programming in the language follow the KISS method is how we do it and the world championship last year proved us right in most respects. Now this year we are doing aLOT more sensor based programming to a small extent but what people didn't realize last year I didn't see a single team out there where that Infared sensor worked consistently. Now Line following...I liked that i have heard it was VERY reliable for autonomous espcially.
Within your code for C make sure you're not repeating your int statements at the Tennesse regional espcially I went around helping teams alot of them had 2-3 in statements reintializing the same thing multiple times.
And going to what Phil said about in LabVIEW those subVI's can sometimes make or break you on file size requirements.
Have fun this season
John Fogarty