In our team we just put an Enum control on the dashboard and send it as a number to the robot (with the vi's that has SD on the corner).
On the robot we convert it back to the enum and use a case structure to define each auton state.
I currently don't have the code but if it was'nt clear enough ask me for more info, I'll be happy to help anytime
I've just noticed that it's actually a pretty old post, maybe my comment is not relevant
