[Joe Ross]

You can use the driver station to simulate a match and get the transitions. I believe your flow is correct, except that finish is never called unless the finish button is clicked in Robot Main. Since you can't do that on the field, finish is never called when you are on the field. If you are just using closing device references, that shouldn't matter since a power cycle clears everything. If you're doing things like closing files, you should either figure out other places to close them (such as right after you write to them), or modify the framework to add another way to get to finish (maybe a switch on the robot). You end the match in Telop Disabled.

As far as the int, execute, stop. Init is called the first time the Robot Mode changes. It's called just once, then Execute happens. When Robot Mode changes again, stop of the old mode is called once, and then the init case of the new mode is called once.