[Luke Pike]

I learned a little while ago that LabVIEW can flatten any datatype (numbers, arrays, clusters) into an XML string based on the LabVIEW XML schema and unflatten the XML string back into the original datatype.

You could make a vi on your computer that creates your autonomous mode (a cluster typedef that your robot code can use in autonomous, values for drive motors and the like) based on user input and write it to an xml file on your computer.

Then, FTP the file onto the cRIO and have your robot code read in the file using the "Read XML File" vi and unflatten the resulting string with the "Unflatten XML String" vi, using your typedef to tell it what datatype to create. I'd make a picture demonstrating it, but I don't have our team laptop right now. Search ni.com and I'm sure you could find an example of what I'm talking about.

I haven't done this, but it could be an effective way to change the autonomous mode without having to recompile and download.