[Orborde]

Utterly stupid loop-counting state machines can and do work wonders; never, EVER use them.

In case you didn't see 1024 (my team)'s autonomous last year, it was exactly that: a state machine coupled to a counter that incremented every program loop. Somehow we got the counter numbers nearly perfect, and our robot's autonomous was a minor legend, zipping out and nailing the 10-pt ball in less than 5 seconds. Though it worked, it's really too stupid, rigid, arbitrary (ours only worked so well by sheer luck and a little testing in the practice rounds at St. Louis), and moreover, dangerous to use again. Still, it worked...