[Greg McKaskle]

The sample autonomous code sets the motor speeds to some value, then waits while they run at that speed, then changes the speed, then waits, ...

I think what you are asking is how to get the robot to drive further or longer. They are related. Distance is velocity x time. The joystick input to the drive block is pretty much velocity of your wheels. So one approach would be to make all the motor commands go faster -- you may want to think about that one this year. Another approach is to leave the motors running for longer. That would be the same as sending a larger number to the wait block.

Finally, if some part of your path that you map out is cyclical, you may want to use a loop to repeat a pattern until auto is up.

Now it is your turn to take these simple things and come up with your own autonomous path program.

Greg McKaskle