[wireties]

This is exactly how our (FIRST Team 1296) autonomous mode works. Our major functions are isolated in separate tasks, each monitoring a message queue. In teleop mode, we translate the DS inputs to messages and send them to each function/task. In auto mode, a dedicated task reads a text file and sends the same sets of messages. The script is modal, executing different blocks depending on the alliance and starting position. But we also download new text files w/o changing the robot firmware.

We look forward to your white paper.