Re: Multiple Autonomous Programs
 

When would one actually select the autonomous routine desired when using the SmartDashboard? Do you do it after connecting into the FMS but before you have to step behind the line, or in the queue line, or in the pit before leaving for the match?

I am unclear as to when the autonomous mode selection would be made given that we need to connect into the FMS.

Thanks.

Re: Multiple Autonomous Programs
 

You can select and change your mind up until you have to step back.
In Autonomus Init, you read the input, and setup Autonomus to execute accordingly.

Re: Multiple Autonomous Programs
 

So you setup the robot and power on on the field. In the meantime one member of the drive team is setting up the drivers station. When connected to the FMS, then you can select the autonomous mode?

Re: Multiple Autonomous Programs
 

We make our Dashboard selectable autonomous choice in the pit.
The robot code just reads the Dashboard values whenever it is running and connected via network to the Driver station.

FMS doesn't have anything to do with any of this.
FMS only tells the Driver station what mode (Disabled/Enabled/Teleop/Auto) it wants it to be in.

Re: Multiple Autonomous Programs
 

Yes, when your robot connects and starts running code, it posts to the Driver's Station (robot init). At that point, the input field can be edited. Once Autonomous Starts (autonomus init), the robot reads the input field and sets up parameters, and runs the appropriate code (autnomous periodic).

In theory, you can do this while tethered in the que (after you have discussed with your alliance members who is doing what, who is starting where). However, in the event of a last minute change (problem with robot on the field), you can change up until the start of Autonomus.

This is most helpful during practice matches when there can be a lot of changes on the field. By the time you get to qualification matches, you have a good idea going onto the field who is doing what.

Re: Multiple Autonomous Programs
 

We did this last year too, but the digital inputs has been removed from the driver station this year. :( So we are back to a 3-bit digital switch plugged into 3 digital ports where we read them and "assemble" the selected number chosen.

I must say that I like the idea of being able to set something in disabled mode but it is risky in case they are having trouble getting comms and are not given time to update/select the desired value. So... I guess we will stick with our old switch for now. :]

Re: Multiple Autonomous Programs
 

We have an autonomous that uses scripts that we SFTP over to the roboRIO. When we connect to the robot the dashboard displays a textbox under our autonomous tab with all of the file names and puts asterisks around the one which we have selected.

When selecting files before a match, the manipulator is able to use a special button combo to scroll through the list.

It's basically a TV guide, except for autonomous files.

Re: Multiple Autonomous Programs
 

Not that risky. They have to get your robot to establish communications before they can start the match. Once com is established and the robot starts running code, the Smart Dashboard is active. For us, it is one value in a field that changes.