[1024Programming]

In CommandBase autonomous is pretty simple if you use command groups. You basically just write a list of the commands you'd like to use in the order you want to use them.

The two commands you use are:
addSequential(new Command(), timeout)
addParallel(new Command(), time out)
They each run the command for the amount of time

For Example:
addSequential(new JagsBackwards(),2);
addSequential(new JagsStop(),0);
addParallel(new UpperJagsIn(),2);
addParallel(new LowerJagsIn(),2);
etc...