[rbayer]

2.5 will make it much easier, but you can do it in 2.0 if you want. Here would be the 2.5 code:

counter VAR word
counter=0

mainloop:
serin...

if auton_mode then
  counter=counter+1
  SELECT counter
    CASE 0 to 100
       'go forward
    CASE 101 to 200
       'pause
    CASE 201 to 300 
       'turn
    CASE else
       'pause
    ENDSELECT
ELSE
   'regular robot code
ENDIF

serout
goto mainloop