As you can see by our use of the "User Byte" variable for that case statement, we actually used the User Interface control board LCD to pick which autonomous mode we were going to use.
We guessed that we could see how the opposing side's robots were set up and then set it, but there were so few auton's this year we didn't have to worry about it.
The only "problem" we had was during the initial 3 matches at West Michigan when we decided to try to get get middle row scoring working instead of just low row scoring. We had to change our strategy a bit and get our distance and turn amounts prior to raising the arm because the tube would block the camera angle. This resulted in the rather embarassing situation of the robot moving up to the rack, raising the arm, then stopping dead. 3 times.
I wanted to hide underneath the bleachers
