[whcirobotics]

What i mean to say is this:
the three switches are this:

Proximity switch : switch 1
Safe Switch : switch 2
Armed Switch : switch 3

What i want to do in autonomous is this:

Retract the kicker when first autonomous is on.
As it is coming up, the proximity will come on. When proximity comes on, slow down the motor(motor is connected to the safe switch.

When Armed comes on (The switch that says the kicker is all the way to the top) turn the motor(or the safe switch. Same thing) in the negative direction. And when that safe switch comes on Stop the motor as it is all the way out of the way and it is safe to kick

When that is true.. The safe switch is ON and the Armed switch is ON then extend the solenoid. And extend till the Armed switch comes OFF and when it does go off retract back.

Our kicker works perfectly fine. But i just want it to do the kicking in autonomous without the user input (obviously).

This is what i have written in the code so far.. I dont know if it is right.

Pictures attached in word file.