[Jim Zondag]

Ken, I saw this post after I got your Email,
If you need someone to do a piece on Automode, I could do this instead of what we discussed. I have a wealth of insight here...our robots have been autonomous since 1999 even though they never needed to be until 2003.
For our auto modes, we use a finite state machine approach to create the code, which is pretty much the same as how we do create code in the "real world"
Let me know what you think.