[Cody Carey]

What we've been doing is putting a potentiometer on the Operator Interface, marking positions on it... and using it for autonomous selection. Even though your robot is disabled at the beginning of a match, it still reads what value the potentiometer is sending. This allows for unlimited autonomous modes.

The code is just saying that if the value is 0-50, then do one autonomous, and if it is between 50-100 do another, etc. or whatever values you want based on how many auto modes you have.