[JefferMC]

We have used Sendable Chooser, but had issues with stability with SmartDashboard usage that year and quit using SmartDashboard all together.

Last year, I believe it was, we used the DigitalInput switches on the IO page the DriverStation software as switches to select an autonomous program. But those went away this year. Pity.

We are using Preferences this year, but are having problems with the preference values getting stored in the file when set in SmartDashboard. So... we've been editing the Preferences file on the DS computer, then copying to the Robot with FTP. I'm debating going back to a Sendable Chooser, or using a Sendable chooser to set the Preference.

Before SmartDashboard, et al, we would use a series of switches to select the number of the program we wanted to run.

Anyway, regardles of which of these mechanisms we've used, the chosen routine gets identified at RobotInit or AutonomousInit (depending on the actual mechanism), and executed at the appropriate time.

RE: Command Based robot vs Interative. If your robot needs to do two things at once, Command Based is the way to go. Otherwise, Iterative is okay.