Scripted autonomous is fairly... interesting.
4213 'used' it this year, but left it as the same script. We searched the cRIO root directory for the first '.auton' file, and then execute through that via state machines. Our basic structure is a bunch of <subsystem> <state> or <wait> <subsystem>. To wait for multiple subsystems, wait multiple times.
Script looks like this:
Code:
drivetrain 0.5 0 0 1 //0.5 Y, 0 X, 0 W, 1 second
catapult winched
sides deploy 3
wait drivetrain
wait catapult
wait sides
catapult fired
So this way, we know the 'bot is trying to achieve certain states. Understandable code that allows for 'parallelism' without actually using separate threads.
I'll see if I can find the source code. I think it got diked/subverted/buried.
We use state machines... a lot. I highly recommend you learn how to use and implement a state machine if you don't already. It makes coding so much easier.