[Greg McKaskle]

The LV team fully intended to come up with a good replacement for the Delay and Feed VI. Since it never managed to be completed, I'll relate the concept.The idea is to save a copy of Delay and Feed and create a Delay and Update. One step inside the Robot Drive VIs, you'll find a call to Safety Update. You don't need to wire values or anything except the refnum for RobotDrive. Add the appropriate refnums to the connector. If the correct updates are called in place of the Feed of the old VI, I believe the piecewise autonomous will work as before, and I believe that pausing a VI or hitting a breakpoint will typically halt the robot. I say typically because unlike the watchdog, it is possible to pause some of the lower level safety VIs and bypass the safety. This shouldn't happen unless someone is way off the mark in their debugging.

Since I haven't implemented this, and certainly haven't tested it, please test the breakpoint in auto carefully before trusting it.

Greg McKaskle