This is a github repo for all the code that our 2012 Trinity team used and worked during and before the competition. Right now it isn't very well documented, but I hope to get around to that some time.
It is all written in the NXC or "Not exactly C" language and I used the nbc compiler. The compiler (it also downloads the firmware to the brick over USB or Bluetooth) can be found here.
See the top of each file for info on how well it worked and what the program's function is.