Readability helps a lot: If you do something non-obvious, or you are taking a shortcut, comment. Comments are places where you can go back and refactor if you have time later. Use sensible names for everything, makes it easier to understand what is going on.
Continuous revision will let you move from that first draft to a better one without throwing away (too much) work. Any time you rewrite from scratch you may lose lessons learned. As you code, use refactoring tools to eliminate code representing areas of exploration that are no longer needed, and to make obvious things that were obscure. The first one reduces the amount that you need to maintain; the second reduces the effort per square foot. (Sqft makes about as much sense as lines of code, really.)
Modularize appropriately and enforce encapsulation and separation of logic between your modules. You don't want too many dependencies on any one part of the code or that part becomes inherently harder to understand.
Considering using tried and true methods over cutting edge ones. You give up some functionality for predictability.
Finally, if this is code that people will be using before and after modification, you need(ed) to have an appropriate API insulating your code from theirs. Having a strong API lets you change things behind the scenes without needing to alert all your consumers. I think there's a decent article on Coding Horror about this.