[garrettg]

Sorry about taking so long, but here's my autonomous.
It still stays in autonomous, but if I keep both the photosensor and the limit switch for the kicker returning true, it will go to teleop. Largest case strucure true will run once in autonomous, then once in teleop before finally relenquishing control to teleop. The best I can tell is it gets stuck in a loop, finishes early, and repeats autonomous again. Any ideas?

kickerlimit is a limit switch for the kicker, true means it's ready to kick
solenoid push true will kick
solenoid pull true will wind kicker
laser is a photosensor to tell if a ball is present
switcha and b are part of a 3-way switch for autonomous selection

Hope this is enough information.