Sample Autonomous Modes

[NextPerception]

I consider myself an ok programmer, but I am no where near the level that some of the programmers here are at. The evidence of this is some of the astounding autonomous modes that where left and right last year. I was hoping for some examples of code y'all had last year because i frankly wouldn't know where to begin with a code like that. I figure that if maybe I can see some peoples final products I can know what to strive for. I would really appreciate it.