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Ryan,
Remember, when in autonomous mode, the system is DESIGNED to not allow input from the operator interface (OI) to the robot controller (RC). Your mode select button would be connected to the OI, so the robot would know nothing of that switch state until the autonomous phase is over.
Now, it's conceivable that FIRST's competition control system might not turn on autonomous mode until the very beginning of the autonomous phase, when the robot is un-disabled. This would mean that even though the robot is disabled, it would be receiving all the OI inputs, and COULD respond to a mode select button when the autonomous phase starts.
Note that when your robot is disabled, it is not brain dead. It is just paralysed. That is, the master microprocessor in the RC refuses to act upon any commands from your user program.
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