how would you generally code autonomous? As in the commands and structure.

Here’s just one simple example.

i wouldn’t use sequence structures if I were you, you should use a line of while loops that ends and starts the next. In your first while loop you should reference everything that you are planing on using during autonomous. The next while loops would be your actions you want too happen. For advice, I would bundle all of the reference names together and pass that through the line of while loops and unbundle in each one. This makes code much cleaner and is needed to start the next loop. For an example autonomous, you should have your shooter speed up in the first loop and let it wait until its speed up, one that is hit, stop that loop and the next will start the first ball to shoot while continuing the shooter, then wait for it to speed back up and shoot your next ect.