[Greg McKaskle]

The Safety feature, when enabled expects for the RobotDrive to be updated at least every 100ms. If it is not, say due to a breakpoint, a solenoid timer, an infinite loop in a subVI called from teleOp, then the Safety VI will set the motor speeds, on only the late motor speeds to 0. Unlike the WD, this will not shutdown the entire robot, only the outputs that aren't being updated by the code.

The typical way that this crops up in auto is for the auto code to set the motor speed once, then delay for some condition such as time. The general idea was to build an equivalent for the Delay and Feed which was in the WD palette last year. The block(s) for Update and Feed weren't complete in time, and weren't put into the palette. Even with them, more complex movements including other types of I/O is a bit difficult to write.

Greg McKaskle