Pre-Auton LCD Controls Stopping Robot from Coming Back After a Cortex Restart

Programming Support ROBOTC Tech Support
#1

Right now my pre-autonomous code is set to allow my team to choose between five different autonomous modes (4 starting tiles and a disabled option). Yet there have been instances where the cortex has restarted mid-game and I can’t control the robot unless someone hits the enter button on the LCD. Is there any way I can make it not do this, or have the robot detect if it is already in driver-mode and circumvent the LCD from keeping it in the Pre-Auton loop?

Here is the current Pre-Auton Code:

void pre_auton()
{


	//Clear LCD
	clearLCDLine(0);
	clearLCDLine(1);
	//Loop while center button is not pressed
	while(nLCDButtons != centerButton)
	{
		//Switch case that allows the user to choose from 4 different options
		switch(count){
		case 0:
			//Display first choice
			displayLCDCenteredString(0, "Red - Right");
			displayLCDCenteredString(1, "<    Enter     >");
			autonmode = 0;
			waitForPress();
			//Increment or decrement "count" based on button press
			if(nLCDButtons == leftButton)
			{
				waitForRelease();
				count = 4;
			}
			else if(nLCDButtons == rightButton)
			{
				waitForRelease();
				count++;
			}
			break;

		case 1:
			//Display second choice
			displayLCDCenteredString(0, "Red - Left");
			displayLCDCenteredString(1, "<    Enter     >");
			autonmode = 1;
			waitForPress();
			//Increment or decrement "count" based on button press
			if(nLCDButtons == leftButton)
			{
				waitForRelease();
				count--;
			}
			else if(nLCDButtons == rightButton)
			{
				waitForRelease();
				count++;
			}
			break;

		case 2:
			//Display third choice
			displayLCDCenteredString(0, "Blue - Right");
			displayLCDCenteredString(1, "<    Enter     >");
			autonmode = 2;
			waitForPress();
			//Increment or decrement "count" based on button press
			if(nLCDButtons == leftButton)
			{
				waitForRelease();
				count--;
			}
			else if(nLCDButtons == rightButton)
			{
				waitForRelease();
				count++;
			}
			break;

		case 3:
			//Display fourth choice
			displayLCDCenteredString(0, "Blue - Left");
			displayLCDCenteredString(1, "<    Enter     >");
			autonmode = 3;
			waitForPress();
			//Increment or decrement "count" based on button press
			if(nLCDButtons == leftButton)
			{
				waitForRelease();
				count--;
			}
			else if(nLCDButtons == rightButton)
			{
				waitForRelease();
				count++;
			}
			break;

		case 4:
			//Display fifth choice
			displayLCDCenteredString(0, "No Auton Mode");
			displayLCDCenteredString(1, "<    Enter     >");
			autonmode = 4;
			waitForPress();
			if(nLCDButtons == leftButton)
			{
				waitForRelease();
				count--;
			}
			else if(nLCDButtons == rightButton)
			{
				waitForRelease();
				count = 0;
			}
			break;

		default:
			count = 0;
			break;
		}
	}
#2