Using throttle to manipulate Autonomous Mode

[Greg McKaskle]

The other comments will improve the code, but you will still find an odd jerk at the beginning as the while loops will both run at least once. You may find it even a bit better to surround the loop with a case statement and change the loops to run forever. The case can be the Boolean results of the compare, or you convert it to an enum or integer using scaling, and put the code in various frames of the case.

Greg McKaskle

[MAldridge]

That has got to be the most creative use of the while loop I have ever seen! I would suggest that, since has already been mentioned, you put your code into a case structure, and you use the DS switches wired into a build array. Then you can do a boolean array to number and have up to 2^8 autonomous modes!