Not necessarily a routine, but definitely a plan. I go to the gym 1-2 times a week to do the StrongLifts5x5, depending on what else is going on. I do Convict Conditioning a couple times a week, depending on how I feel...
However, every time I do one of these workouts I pull out my log and do what I need to do for the next planned workout. There's not really any guesswork, no changing the workout, etc. I do what I planned to do for that workout, to ensure that I am including my whole body in my workouts (averaged over time, as necessary) and I am making progress towards my goals.
I'm currently squatting almost 1.5x bodyweight, and I can do one-arm pushups and pistol squats for reps, though I'm working on being a bit more strict and controlled. I have other goals that involve my weak areas (shoulders) that I am also working on.
You are a prime candidate for Starting Strength, but Stronglifts would probably do well for you also. Stop screwing around and get a plan. Figure out your goals, and then start breaking down what you need to get there.