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These are all good suggestions and thank you. I am very interested in multi threading not quite sure how it works, but am pretty sure We are going to need it based on my understanding. I'd love to hear about it and see examples.

My question was more of a sanity check because I don't see a lot of Boolean and state discussion in Delphi or in code on git hub. I don't see the Boolean management technique that we used last year with our autonomous routine. So I am wondering if I have missed something obvious, like checking to see if the computer is plugged in, or the wpilib page in the Java section that demonstrates 10 ways to run iterative autonomous. On my team we call it "iterative choking" when the wheels start sputtering we know that that iterative is executing two different motor speeds simultaneously because our logic is flawed and lacks Boolean gatekeepers.

Is the problem really about managing state in autonomous? Maybe I am searching on the wrong terms. The example with the case statements is really good and make sense. We are actually trying to avoid timers this year and rely on sensors. I use timers in my example because timers are used a lot by everyone. Do you guys experience iterative choking too? Or did I completely miss the lecture on iterative autonomous?

Thanks