[marccenter]

Wahoo! finally works with everyone's help. No more buzzing/intermittent operation of my shooting motors during Auton operation.

Stewing on the Auton and Periodic linkage (Mark) on the drive home from Pontiac, MI to Royal Oak I began thinking about how to disable the Periodic functions during Auton without changing my basic programming structure (using large case statement ring around nearly all periodic functions). Then, I read your message, Greg, and was off to the races. I am using continous, free-running timer inside Auton and made a simple compare statement inside Periodic to make sure I was above 0 seconds while below 15 seconds and voila! no buzzing.

Thanks Mark, Alan and Greg for you help! Now, I'm ready for the Troy, MI district tournament starting tomorrow ready to score in Auton.