[John Prather]

First of all, you will not be able to reset the robot using the OI control because that switch is still based on radio trasmission to work. So you would also not be able to switch programs bassed on changing the batt volt to a program id because it will not transmit to the robot. To program autonomous mode you will have to use switches on your robot or just change the program before you get to the field based on the robots and teams that you are up against. You can always set the starting values of the speed controlers or the spikes though the program. This is also another way to program the autonomous mode.