[Alan Anderson]

Originally Posted by Xufer

...how would i do it if i was to have like 4 auton modes...

You have a couple of options. Simplest in your case would probably be to do something like this:

// somehow get a number in the "auto" variable
  auto = (rc_dig_in18<<2) | (rc_dig_in17<<1) | (rc_dig_in16);
// or whatever it takes to turn your switches into a value
  if (auto==1)
  {
    // code for mode 1
  }
  if (auto==2)
  {
    // code for mode 2
  }
  // etc.

It might theoretically be more efficient to use a switch/case statement instead of a string of ifs, but you probably have enough to focus on right now without worrying about learning another control structure.