[Salt and Pepper]

Hello,
I'm trying to program autonomous but having a little trouble.

1) Since, autonomous can't be influenced by the driver station at all, I would like to have a toggle switch mounted on the robot instead of having to redeploy code before each round that controls the position of the arm depending on whether we get placed in the middle or outside of the scoring grid. Would this be a digital input output on the sidecar?

2) For line trackers, would this be the digital input outputs labeled IR1, IR2, and IR3 on the default code. How would apply this to a basic flat sequence structure where the motor basically, in one frame, goes forward for about 8 seconds (8000 milliseconds) at half speed? Would this wire into the direction input at all of the holonomic drive I am using?