[otherguy]

Originally Posted by aziobro

But it gets run during program load when the command group is constructed.
I want it to run After autonomous is started.

Move where you're instantiating the auto command. I think the default project creates the auto command in robotInit(). I'll assume that's where you're instantiating the command in your program.

If you move this statement down into autoInit() you should get what you're asking for, no?

public void autonomousInit() {
    	// instantiate and schedule the command used for the autonomous period
        autonomousCommand = new YourAutoCommand();
        autonomousCommand.start();

...