At Team 245, we have a rotary, 10-number (4-bit) switch that connects via Digital IO's.
To read in the value, define a macro AUTON_ROUTINE:
Code:
#define AUTON_ROUTINE (rc_dig_in10 | (rc_dig_in11 << 1) | (rc_dig_in12 << 2) | (rc_dig_in13 << 3))
In our case, we have our switch connected to Digital IO's 10, 11, 12, and 13. Adjust accordingly.