[kgzak]

Most of our code is modular. as far as autonomous is concerned we have a VI that I wrote which takes input (speed, distance to go to, distance the robot is at, dead-bands) and based on the distance we want to go to, we set the speed to the motor. If we just tell that VI we want to go to a distance less than where it is at, it will drive backwards. We use this VI for autonomous and for the Swerve Drive that never ended up on the final robot.