Very interesting and useful information, especially from Ken Streeter and 1519 (I was extremely jealous of your autonomous at North Carolina). I've sketched out a more streamlined and OO version of our autonomous.
Our individual components already included their own functions, but there was plenty of overlap, especially controlling our relatively complicated winch/ratchet kicker.
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Originally Posted by Jared341
We defined a custom "scripting format" that lets you describe high level robot behaviors in a plain text format. The "autonomous mode text file" can be created on a laptop (either with Notepad or, hopefully next year, in a full-featured GUI) and FTP'd down to the cRIO. Upon autonomous mode starting, our system searches the file system for the autonomous.txt file and executes the commands sequentially.
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We are trying a similar approach. Do you mind elaborating on the syntax of this file and how you parse it within the code?