[pblankenbaker]

Sorry, for the earlier post (I posted my answer to a different thread to this thread by mistake).

Here are some suggestions to avoid the long boolean array pattern:

• Try transitioning between "states" to keep things more manageable in your code.
• I would also recommend that your team spend some time evaluating the Command based framework after this season ends to see if it might be a better fit for next year (it addresses this type of issue with an entirely different pattern). Or, if you have a lot of time waiting for a turn on the robot, you might want to investigate it now in a new project to see if it would be a better fit for what you want to accomplish.

As far as using a state based iterative method, there are probably many approaches. Here is a rough framework that include a timer to get you started:

    // Keeps track of time state was entered
    private Timer autonStateTimer;

    // Keeps track of current state
    private int autonState;

    // List of possible states    
    private final static int AUTON_STATE_DRIVE_FORWARD = 1;
    private final static int AUTON_STATE_STOP = 2;
    private final static int AUTON_STATE_SHOOT = 3;
    private final static int AUTON_STATE_FINISHED = 4;
    
    // Helper method to change to new state and reset timer so
    // states can keep track of how long they have been running.

    private void changeAutonState(int nextState) {
    	if (nextState != autonState) {
    		autonState = nextState;
    		autonStateTimer.reset();
    	}
    }
    
    public void autonomousInit() {
    	// Reset auton state to initial drive forward and reset the timer
    	autonState = AUTON_STATE_DRIVE_FORWARD;
    	autonStateTimer = new Timer();
        // Not sure if start() is required anymore, but it shouldn't hurt
        autonStateTimer.start();
    }

    public void autonomousPeriodic() {
    	switch (autonState) {
    	
    	case AUTON_STATE_DRIVE_FORWARD: {
    		// Drive forward at half power for 3 seconds
    		setDrivePower(0.5, 0.5);
    		if (autonStateTimer.hasPeriodPassed(3.0)) {
    			changeAutonState(AUTON_STATE_STOP);
    		}
    		break;
    	}

    	case AUTON_STATE_STOP: {
    		// Turn off drive motors
    		setDrivePower(0.0, 0.0);
    		// After 1/2 elapses (time to stop) transition to
    		// shooter state
    		if (autonStateTimer.hasPeriodPassed(.5)) {
    			changeAutonState(AUTON_STATE_SHOOT);
    		}
    		break;
    	}

    	case AUTON_STATE_SHOOT: {
    		// Some auton method that fires a boulder
    		fireBoulder();
    		if (autonStateTimer.hasPeriodPassed(1.5)) {
    			changeAutonState(AUTON_STATE_FINISHED);
    		}
    		break;
    	}

    	case AUTON_STATE_FINISHED: {
    		stopShooter();
    		break;
    	}
    	}

    }

The switch/case code can get pretty long when using this pattern. It can be easier to manage (read) if you have each case call a separate method. You will need to implement the methods you want to perform in each state - the calls above are just pseudo code.

Hope that helps.