[apalrd]

A couple clarifications:

-In the disabled VI, any time the robot is disabled the outputs are disabled as well, so you can't command any actuators even if you try to. I usually have a lot of code that runs when disabled (in many cases all of my code runs when disabled) so I can debug without allowing actuators to actuate. I always copy a call to Teleop alongside Disabled so that I can debug teleop with the robot disabled.

-Finish runs when the code is requested to stop by the front panel control on Robot Main.vi and it is impossible to get there using 'burned' code. I stopped writing code in this file a few years ago and my new custom templates do not even include it at all. If the FPGA watchdog works and is used properly there is no need to do anything here at all.

-A key distinction between a potentiometer and encoder is the fact that a potentiometer is absolute while an encoder is relative (there are 'absolute encoders' also, the type often used in FRC mimic the behavior and analog output of potentiometers). This can be important if you need to know the position but don't know the starting position (it's possible for an arm to be anywhere, if you don't have another sensor to tell where zero is you will never know if you're incremental position is right).