Our code is a few extra hundred lines from the Program chooser, that is a long piece of code...but so very useful by having all your autonomous rountines in one program
. That program chooser was so hard to write, but when it all came together it was so great, the team loved to use it because they could use the screen to choose a program and not have to worry about which code specificly would do what, and could select the alliance, the starting position and finally what routine to run.