[MotorHead]

As to question 1, you can use the Driver Station inputs to convey information to the autonomous. If you look at the provided code example for line following, the code looks at the DS inputs to determine if following the left lane, right lane, or straigt lane is desired. The default code looks at the first two inputs to determine. I expanded the concept by using the next two inputs (DI 3, 4) to tell the autonoumous code are we going to the low, middle, or high peg. With 8 digital inputs, that is a possible 256 possible scenarios you can program. I think that should handle what you need.

As to question 2, the digital inputs labeled IR 1, 2, 3 are the status to the photo switches provided in the KOP. They register true or false depending on the presence of reflective tape or not. The default code assume a true if over tape and false if over just the carpet. You could attempt to do autonomous without the photo switches doing a timed straight move, but will problematic without the feedback of the switches.