[Alan Anderson]

The OI switches and joysticks can be read by the robot any time autonomous mode is not active. It's no trouble to constantly read the value of a selector switch into a variable while auton_mode is false, and use that variable when auton_mode is true.

We liked having lots of autonomous options last year. Instead of eating up a bunch of switch inputs on the OI, we used a rotary switch to select between taps in a string of resistors and connected that to one of the joystick _aux inputs. The code saw an analog value, compared it against a collection of programmed low/high limits, determined which switch position had been selected, and stored a number representing that position in a global variable.

We'll be doing something similar this year.