[Joe G.]

This can be done on the robot, but a lot of teams find it even easier to put on their driver station (perfectly legal, as long as it isn't touched or intereacted with during the actual autonomous period). Simply use a device which can pass a signal to the roboRIO, or to the TI breakout board you got in your kit of parts for custom driver station components. (could be any of a number of things...a potentiometer hooked to an analog input, a series of dip switches or jumpers on digital inputs, etc.)

In your code, you would load all possible autonomous modes on to the roboRIO. When autonomous starts, the first thing you do is read the value of this device. Using if-else statements, or a case structure, you would tell your robot to do one of any number of possible autonomous modes.