[TubaMorg]

Will these work if you are standing 5 feet away from your controls? If you are using a joystick as your method for selecting an autonomous mode, you need to do it in disabledPeriodic. And you need to set a VARIABLE to some value in response to the input. Your joystick methods are state calls. They don't remember what was done in the past. You store the input in a GLOBAL variable that can be examined by autonomous.

Do not place your autonomous code in autonomousInit, as this is called only once on the way to autonomousPeriodic. Initialize variables and motors and perhaps decide which auton to run in autonomousPeriodic.

HINT: see my code above