[Vanquish]

I'm also new to programming and I am using 2007 default code. I have never done an autonomous before so any help would be appreciated.

Would something ilke this work?

void User_Autonomous_Code(void)
{
/* Initialize all PWMs and Relays when entering Autonomous mode, or else it
will be stuck with the last values mapped from the joysticks. Remember,
even when Disabled it is reading inputs from the Operator Interface.
*/
pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
relay1_fwd = relay1_rev = relay2_fwd = relay2_rev = 0;
relay3_fwd = relay3_rev = relay4_fwd = relay4_rev = 0;
relay5_fwd = relay5_rev = relay6_fwd = relay6_rev = 0;
relay7_fwd = relay7_rev = relay8_fwd = relay8_rev = 0;
digital_io_01 = digital_io_02 = digital_io_03 = digital_io_04 = INPUT;

while (autonomous_mode) /* DO NOT CHANGE! */
{
if (statusflag.NEW_SPI_DATA) /* 26.2ms loop area */
{
Getdata(&rxdata); /* DO NOT DELETE, or you will be stuck here forever! */

/* Add your own autonomous code here. */
if(digital_io_01==1)
{
SetPWM ( 1 , 65 );
SetPWM ( 2 , 192 );
}

Generate_Pwms(pwm13,pwm14,pwm15,pwm16);

Putdata(&txdata); /* DO NOT DELETE, or you will get no PWM outputs! */
}
}
}