[geniusadam69]

Are using a command based approach? The command based approach seems to make it pretty simple. Keep grouping commands together until you get up to the full autonomous command.

If you're trying to maintain something in a state based approach, i would instead use an enum to manage the state. Then it could only be in one state and those states will have commands or actions assigned to them. It will also make it easier to write the logic to determine your state.

Let me know if you have more questions.