[smurfgirl]

So here's an idea:
Program all of the ideas you thought of. Have a panel of switches (3 of them = 2^3 = 8 possibilities) so you can set the robot to whatever autonomous mode you want for that particular match, after talking to your alliance partners about strategy.

Our team has done something along these lines for the past two years, and the flexibility is great. I wish I could take credit for the idea and/or the programming, though.