I have a quistion about stopping the autonomous mode...

[Astronouth7303]

main.c determines how the autonomous code and the user code is called.

The autonomous routine actually has it's own internal loop (at least it did previously). The key is that the loop calls getdata() and putdata().

If you're new to this, just stick with this: never use a for() or a while().

If you've done this before: use only very short (eg, to iterate through an array of 5) for() and while()'s.

If you know what you're doing: just ignore me and do your thing.