Here is an example of creating a command group that can run during the autonomous period. It is important to note that once you have created the command, it can be used during teleop too. So for this year, if you have a command that can, say for example, shoot from the pyramid, then if the robot finds itself next to the pyramid during teleop and you have that command "wired" to a button, you can use it.
http://Wpilib.screenstepslive.com/s/3120/m/7952/l/97994
Brad