[Alan Anderson]

Put that snippet of code in user_routines.c and call it from the same place you're reading the joysticks for other purposes. Default_Routine(), perhaps.

Your compiler errors are probably because you didn't get the hint to replace AUTON_UP and AUTON_DN with the actual OI controls you will be using to step the number up and down. p1_sw_trig and p1_sw_top, for example. You will also have to declare auton_select as a global variable so you can use it in your actual autonomous routine.