[Greg McKaskle]

Safety Config adds a layer of safety, especially when debugging code. If safety config is turned on, it periodically checks to see if you have updated the output value. If several hundred milliseconds have elapsed and your code hasn't given an update, that is the cue for the safety manager to set the output for you -- to 0.

Do you want this on?
If your code to update the motors or RobotDrive will be executed in a loop or otherwise run more often than the safety timeout, then the safety VIs will allow you to hit a breakpoint in your code, accidentally crash a particular thread, write an infinite loop, and make many common debugging actions without the robot continuing on its way -- at least the safety config'ed outputs will be set to 0.

If you don't know how often your code is running, don't want to write it this way, aren't debugging anyway, or have really good bumpers and alternate safety practices, you can turn off the safety config. It is optional.

Greg McKaskle