[James H]

It depends on what you are planning to do in autonomous. If you are looking simply for a simple hard-coded autonomous period, the above post is what you're looking for. If you're wanting a less rigid format such as being able to record a session, then it gets much harder.

The basic idea behind autonomous is to let the code do what the joysticks or user controls do in TeleOp. If you have a certain button that, say, turns on a window motor, in autonomous you either have to set up a condition that the computer can determine without the joystick or a time period for which it should run. It's hard to explain further examples without getting too detailed.