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Re: Teleop Subroutine for semi-autonomous shooting
The Periodic Tasks VI is a good place for this kind of thing. Have a loop that waits for the start signal -- the button press, in your case -- and runs through a flat sequence doing everything it needs to. When the sequence is finished, wait for the button to be released in case the operator hasn't let go yet, and let the loop start over to wait for the next button press.
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