[efoote868]

Did that compile OK?
When you loaded it and ran autonomous, I (hope) the robot just stayed still. Luckily your last state was no movement, because without break statements, it'll run through all the states.

Should be:

switch(variable)
{
case 0:
//do stuff
break;

case 1:
//do other stuff
break;

case 2:
//do some stuff, and case 3's stuff

case 3:
//do something else
break;

default:
//do nothing
break;
}

If you take the default case out in your current setup, you should drive forward forever (which is dangerous, so I suggest you don't).
I also suggest that you disconnect the motors and just watch lights to see if its doing what you want.