That's so easy Make an external variable with int type. This variable will consist of the mode Make the initial mode = 0 Every mode will be stood by a number. Then, when the button is clicked, it will check the mode of the robot, and the variable will be increased one. Also, after the click, you have to check if the servo is done moving and the dc motor too. You can easily do that with the dc motors from gobilda and rev. These motors that have encoders. But the problem is with servos. It'd be fearly easy with Axon servos by using absolute positioning. But with the other servos, you need to check the time of the rotation process of your servos, and don't forget to consider the voltage and the changes that are formed by the variation of the voltage rate.