[rdmarsh]

We had a similar problem but with only two auto modes (cross low bar or don't move). We wound up using the throttle on a joystick for it - there is no rule against reading joystick inputs from the driver station during autonomous, just against drivers touching any of them during that period. If you have more than two modes, you might try building a multi-position selector you can hook up over USB using a TI Launchpad.