can I collect a $32K Commission owed to me from a former employer?

In 2004 I worked for a company as a sales rep in St Petersburg, Fl. On my way out the door to work for a competing company in California I closed a deal where my commission was over $30,000. The deposit was received, the order was shipped and then I left the company. According to policy I was still due the commission. Upon entering into employment I signed a Non-compete agreement. When I contacted the company to request my check they cited that I was in violation of my non-compete and refused to disburse payment. I, quite frankly, have been used to being kicked around and being the little guy and didn't have the money to fight.I don't know what statute of limitations on something like this is but if I have ground to stand on I'll pursue it.
thank you.