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Re: Autonomous in iterative robot
It's late in the game for a change, but depending on how much code you've written so far, definitely look into the command based programming (can be found here: http://wpilib.screenstepslive.com/s/.../13809/c/88893 (or the full pdf manual here: http://wpilib.screenstepslive.com/s/4485/m/13809/pdf)
I've done state based programming before, and was kind of my "go to" way of programming. Command Based has a lot of advantages over the state machine way, and doesn't have that big of a learning curve if you already feel comfortable programming in Java
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