Autonomous Code

[Adrian Wong]

Anyone have any info on how to program this? Does it just run the mainloop without regards to the SERIN command?

[rbayer]

Somewhat yes, somewhat no.

Basically, it runs the program loop exactly as if it was in non-autonomous mode. The only difference is that all the variables from the OI (p1_x, p1_y, p1_sw_trig, etc) are set to 127 or 0, depending on whether it is an analog or digital input, respectively. The inputs on the RC (rc_sw1, sensor1, etc) still contain the correct values.

One of the bits of the competition mode byte is also set but I can't remember which. It's documented in the default code if you need to know.