Autonomous Code Enabling
 

I would just like to inquire as to how autonomous mode is started in competition, and how it is timed. It is my understanding that the signal received through the competition port enables, and disables, the autonomous mode period within the alloted 15 seconds; Therefore you do not need an autonomous code timer built into your code. Is this correct? Thank you
Team 870

This is true. The autonomous mode status is controlled through the competition port.

In your program, there is a way to tell when autonomous mode is on. There's a variable called "auton_mode". It will be 1 when your robot is running in autonomous mode. Just do a simple "IF" statement that checks if this variable is "1". If it is, run the autonomous code, otherwise, run the regular code.