Modular

def initialize(self):
        from autonomous import SimpleAutonomous
        self.obstacles = {
                          'LowGoal': SimpleAutonomous.LowGoal(),
                          'A0': SimpleAutonomous.DirectPortcullis(),
                          'A1': SimpleAutonomous.ChevalDeFrise()
                          }
    @state(first = True)
    def main_autonomous(self, initial_call):
        if initial_call:
            self.obstacles['A1'].on_enable()
        self.obstacles['A1'].on_iteration()
        if self.obstacles['A1'].isFinished:
            self.next_state('finished')
            
    @state
    def finished(self):
        raise

Simple Autonomous

##THIS LINE BREAKS @timed_state(duration = 2, next_state='lower_arms', first = False if isinstance(self, ModularAutonomous.ModularAutonomous) else True) 
    def drive_to(self, initial_call):
        if initial_call:
            self.drive.reset_drive_encoders()
        
        if self.drive.drive_distance(self.Drive_to_distance*12):
            self.next_state('lower_arms')