[aerophd2001]

Here's how I tested my autonomous code:

1. Create a subroutine 'Auto' that contains my entire autonomous code.

2. Put the routine 'Auto' at the start of my User Controlled section as well as inside the Autonomous section.

3. Power up the bot and watch it run the 'Auto' routine (while in the User Controlled section).

4. Tweak and re-deploy (repeat until you like your 'Auto' routine).

5. Comment out (or flat out remove) 'Auto' from your User Controlled section.

Voila!