Yes, this is true. We did it last year, along with many teams. You can store a variable that is based on inputs from the OI, and that can be used during the autonomous running of the program. We had switches on our control board that were used to tell the robot which autonomous program to run. Many teams got much more complicated than we did, and had analog inputs (pots) to have many different autonomous programs.
[edit]I guess I should make references. Page 26 of the Programming Reference Guide explains the competition mode.
Quote:
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When Disabled, all PWM and Relay outputs are disabled, but program execution continues.
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It was explained very vividly last year in one of the updates. Just have an
if (competition_mode == 0)
and put your code there.[/edit]