If they don't look mouldy, rotten or dried out, they're probably still good. I would go ahead and plant them and see what happens. Plant them soon! Like before Spring really gets going in your area, 3 to 4 inches deep in good composted soil with no weeds, and give them a thin layer of mulch on top if you're still getting frost. This way, if they are still good, they could start producing next year instead of the year after.
I'm no master asparagus expert, but I've grown it for years, only because we were lucky enough that when we bought our place, it already had an established asparagus area. I've occasionally dug up corms and transplanted them to even out things between bare spots/spreading plants, but other than that I've done practically nothing except harvest like crazy in spring and summer, water in mid-summer, spread compost/manure in late summer, let them go to seed so they'll hopefully increase in early fall, then mow the stalks to the ground in late fall and spread mulch.
I don't even weed the area very severely - just pull the most invasive weeds in the early season when the asparagus are first coming up, then run the lawnmover after each time I harvest, which is twice or three times per week from April - July.
Once they're established, it's super easy to get an amazing crop year after year.
You can freeze them, to use in stews and soups. They're also really good pickled.
