[remulasce]

So after a brief review, I can tell you the code looks really messy.

But, nothing actually appears incorrect in the autonomous sequence. Which is why we need the reason why you think it's wrong.

It's perfectly valid in Java to put default: before the case:es. You're doing it really messily in LowBarAuton, but it does work.

Again. Please tell us exactly how you are trying to run autonomous and how it "fails". We can't help you solve something you haven't told us about.