[Shivang1923]

for the switches

You could just place this in the "other", "default" case in the robotmain vi for basic framework
and for advanced framework in disable vi "execute" case

my code uses less switches, and converts them into a number, you can just modify it as you need.

as for the drive commands, i would say do as Mark said, but i dont think it should make a difference except for the crab drive sections, and that is because the device refrences force a chain, but to be safe you should chain the errors like mark said.