[alopex_rex]

Originally Posted by Arhowk

So much work!

We just used A and Y to swap between modes.

I like using the SmartDashboard, rather than joystick controls, because there's no button mapping to keep track of. We can add as many auton programs as we want and add each to the chooser with a single line of code. Anyone using the driver station can see the list of the choices, with names/descriptions, and click one to choose it, without having to know the button scheme (or even have a controller). Also, compared to your code I have to say it seems a little simpler; we don't even need an array to keep track of all of our auton programs. (Although of course I have not ruled out the possibility that your code is simply more fancy than ours.)