Hi all,
I have created a new way of operating the robot during the autonomous mode with lua:
https://github.com/team3990/Lua
In my opinion, it's much more efficient than state machines for linear autonomous modes.
The project not only uses a command file, but commands are written in lua, so you don't have to recompile and deploy the whole time every time you want to change something. Please read the README for more information.
To use this on the RoboRIO, download lua's source code, compile it with the FRC toolchain, include liblua.a in your eclipse project and add LuaWrapper.cpp/h. main.cpp is just a demo.
This code is designed for the iterative mode, by the way.
Hope this is helpful and thanks in advance for feedback!