Time

[Goya]

There is one way - Assuming that your driver is constantly pressing forwards on the joysticks the entire autonomous mode, your code will be able to tell 15 seconds of time when the joysticks give a value. You could also tell when the auton_mode bit changes and be able to tell 15 seconds of time.

Then, you could be counting loops in the background, and debug the value in time of one loop by dividing the total number of loops that occurred during one autonomous mode peridod by the 15 seconds.

Sorry if this too complicated, but telling time isn't really practical on the BASIC stamp.