Hello, I’ve been trying to create four autonomous programs and have them selected by which port I place the jumper in. How would this be done? How would the loops be set up? Any help is appreciated. Thanks. 
No loops, just an if statement for each auto mode. You would then call a subroutine from the if statement that contains the selected auto mode.
So I would define the jumpers(as bumpers) then have have an if statement for each autonomous mode? Sorry I’m new to more complicated things but thanks for any help.
Bumpers and Limit Switches are just digital inputs. So you can use either of these or just Digital Input they all call the same function.