[Greg Ross]

Originally posted by Mark McLeod
(BTW: This was indented for readability when I typed it in)

Mark,

To preserve indentation, put your code inside {code}...{/code} vBcode tags. (Replace the curly braces with square brackets.)

Here's your code with them:

'----------Put these in your declaration section
'These are the # of program loops that completes the movement
FIRST_LEG    CON 40    '~ 1 second assuming delta_t=0
SECOND_LEG   CON 200   '~5.2 seconds
THIRD_LEG    CON 250   '~6.5 seconds
'The last leg you define here should not be > 577 (15 sec.)

auto_counter      VAR    WORD

'------------Put this before your main loop
auto_counter = 0

'-----------Put this immediately after your Serin command
' We are just overriding the joystick values as if the driver were
' moving the joystick

IF auto_mode = 0 then NoAuto
   auto_counter = auto_counter + 1
   'Can also do: auto_counter = auto_counter + 1 + delta_t

   If auto_counter >= FIRST_LEG then LEG2
      'These values should be what your driver would normally do
      'with the joystick to accomplish what you want to do
      p1_x = 254    
      p1_y = 0
      Goto NoAuto

LEG2:   
   If auto_counter >= SECOND_LEG then LEG3
      p1_x = 254
      p1_y = 0
      Goto NoAuto

LEG3:
   If auto_counter >= THIRD_LEG then NoAuto
      'Make sure you come to a stop as the last LEG
      p1_x = 127
      p1_y = 127
      Goto NoAuto

NoAuto:

'------------The rest of your regular code