Mike, what is up with all the identical code, don't you think you could go with the flow of the main loop and just do something like this:
Code:
':::Timer variables
cntr_cycles VAR byte
seconds VAR nib '15 sec timer,make byte for more time
seconds = 0 'same as your realtime variable
cntr_cycles = 0 'same as your time variable
...
if auton_mode = 1 then do_auton
'non autonomous code
goto skip_auton
do_auton:
':::15 second TIMER::
if cntr_cycles >= 38 then update_timer
goto skip_update_timer
update_timer:
seconds = seconds + 1
cntr_cycles = 0
skip_update_timer:
select seconds
case <6 'until seconds = 5
drive_R = 180 'put drive commands accordingly
drive_L = 180
case <11
drive_R = 127
drive_L = 127
case <16
drive_R = 64
drive_L = 190
endselect
cntr_cycles = cntr_cycles + 1 + delta_t
'debug ?cntr_cycles, tab, ?delta_t, tab, ?cntr_cycles, cr
':::15 second TIMER::
Questions/comments, pm me