[Alan Anderson]

You can control just about anything you can measure. To control the number of revolutions of a shaft, you need to measure the shaft revolutions. That's something encoders are good at. What kind of motor is it, what kind of gearbox are you using, and what is it connected to?

Your program does not control whether the robot is in Autonomous or Teleoperated mode. That's done by the Driver Station, and on a competition field the Driver Station is told to command the appropriate mode at the appropriate time by the Field Management System.

You can use "practice mode" on the Driver Station to run it through a timed sequence of disabled, autonomous, teleoperated, and disabled again. If you want to, you can modify the timing on the DS setup tab.