Moving autonomous programs to teleop

[jhellr13]

I am looking for some help with automating some tasks in teleop by using code from autonomous.

For example, lets say I have an autonomous mode where the first while loop is to drive straight using encoders for a certain distance, then move to another loop where the robot turns in a circle using the encoders, and then moves to a while loop where the motors are stopped.

Now lets say that I want to use that code during teleop if i press a button. Do I just copy the code from autonomous and place it in a case structure attached to the button in teleop? Does it have to go in periodic tasks instead? Does each while loop have to be in a flat sequence as well?

Help please? Thanks