[rwaliany]

Personally, I would have a set of functions

//auton check
int program = 0;
//bit shift digital inputs to program var
doAutonomous(program);
//auton check


//misc funcs
#define REGULAR_AUTON 0

void doAutonomous(int program)
{
if (program == REGULAR_AUTON) regular_auton();
else if...
}

void regular_auton()
{
// blah regular auton
}