[RyanCahoon]

Originally Posted by whcirobotics

What i want to do in autonomous is this:
...

You must have one heck of a kicker mechanism

Originally Posted by whcirobotics

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

Would it work to move your (working) teleop code into a subVI that you could call from both autonomous and teleop? Make the inputs to the VI be whatever is normally controlled by your drivers, so your autonomous routine could supply these inputs instead.

It also sounds like your kicker code could benefit from a state machine: http://frcmastery.com/try-me/state-machines/

--Ryan