[miketwalker]

Well, I believe the OI can't send data inputs to the RC during autonomous. However, if you put 2 switches on your RC and plug them into the "Digital Inputs"... simply make one code, with all 4 modes on it. Make one switch the side switch (i.e. when on run Left side, when off run Right side code) and the other switch can choose between 2 modes... if you want to do 4 modes like you said, you can do more digital inputs with switches to choose. Then just in your code make IF loops to pick the code. Tell me if this makes sense, I'm kind've tired so I don't know if I make any sense.