Here's our code for this year. I've striven for good, well documented code that is highly efficient this year. Of course with the build season rush, we didn't document it very well at the time, but now that we've had some time to relax, we've documented it, color coded it, and changed a few small things. Now we are in the position to test it to make sure everything still works.
Anyway, here's the code if anyone is interested. I was a LabVIEW Developer (not certified) for my internships over the past few years, so I'm pretty experienced at this point.
2012 Robot Code (Cleaned) 2-24-12.zip
I'd love to hear feedback, or questions regarding the code.
You never know when the GDC will slide in a rule about any robot with a laser must do a laser light show on the floor of the field or face a 50-point penalty :p. - EricH [more] 
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