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To make a switch to turn on autonomous mode, all you have to do is put a switch between pins 5 (autonomous mode pin) and 8 (GND), on the 15-pin competition port.
As far as I can tell, the physical switch connection changes bit6 of the PB_Mode byte, both of which are defined in the default 2003 code, from a 0 (open, automous mode off) to a 1 (closed, autonomous mode on).
If I'm wrong, please correct me.
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I played hacky sack with Andy Baker.
2001-2004: Team 258, The Sea Dawgs
2005: Team 1693, The Robo Lobos
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