auton code that is a massive if else tree that is a pain to write so this will make it easier probabally...

autonCodeIfElseTree.c

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/** ------------------- 72832S variable definitions -----------------*/

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int autonRun;

//auton cutoffs
int cutoffs[] = {-4096, -2048, 0, 2048, 4096};

//auton reading potentionmeters
int val1 = SensorValue[posPotent];
int val2 = SensorValue[progPotent];

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/** ------------------- 72832S autonomous functions -----------------*/

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void init(){
if (val1 >= cutoffs[0] && val1 < cutoffs[1]) {
    if (val2 >= cutoffs[0] && val2 < cutoffs[1])
        autonRun = 0;
    else if (val2 >= cutoffs[1] && val2 < cutoffs[2])
        autonRun = 1;
    else if (val2 >= cutoffs[2] && val2 < cutoffs[3])
        autonRun = 2;
    else if (val2 >= cutoffs[3] && val2 < cutoffs[4])
        autonRun = 3;
} else if (val1 >= cutoffs[1] && val1 < cutoffs[2]) {
    if (val2 >= cutoffs[0] && val2 < cutoffs[1])
        autonRun = 4;
    else if (val2 >= cutoffs[1] && val2 < cutoffs[2])
        autonRun = 5;
    else if (val2 >= cutoffs[2] && val2 < cutoffs[3])
        autonRun = 6;
    else if (val2 >= cutoffs[3] && val2 < cutoffs[4])
        autonRun = 7;
} else if (val1 >= cutoffs[2] && val1 < cutoffs[3]) {
    if (val2 >= cutoffs[0] && val2 < cutoffs[1])
        autonRun = 8;
    else if (val2 >= cutoffs[1] && val2 < cutoffs[2])
        autonRun = 9;
    else if (val2 >= cutoffs[2] && val2 < cutoffs[3])
        autonRun = 10;
    else if (val2 >= cutoffs[3] && val2 < cutoffs[4])
        autonRun = 11;
} else if (val1 >= cutoffs[3] && val1 < cutoffs[4]) {
    if (val2 >= cutoffs[0] && val2 < cutoffs[1])
        autonRun = 12;
    else if (val2 >= cutoffs[1] && val2 < cutoffs[2])
        autonRun = 13;
    else if (val2 >= cutoffs[2] && val2 < cutoffs[3])
        autonRun = 14;
    else if (val2 >= cutoffs[3] && val2 < cutoffs[4])
        autonRun = 15;
}else{ 
    autonRun = -1;
}
}

task autonomous(){
    if (autonRun == 0) {
        auton0();
    } else if (autonRun == 1) {
        auton1();
    } else if (autonRun == 2) {
        auton2();
    } else if (autonRun == 3) {
        auton3();
    } else if (autonRun == 4) {
        auton4();
    } else if (autonRun == 5) {
        auton5();
    } else if (autonRun == 6) {
        auton6();
    } else if (autonRun == 7) {
        auton7();
    } else if (autonRun == 8) {
        auton8();
    } else if (autonRun == 9) {
        auton9();
    } else if (autonRun == 10) {
        auton10();
    } else if (autonRun == 11) {
        auton11();
    } else if (autonRun == 12) {
        auton12();
    } else if (autonRun == 13) {
        auton13();
    } else if (autonRun == 14) {
        auton14();
    } else if (autonRun == 15) {
        auton15();
    } else {
        auton_1();
    }
}