Quote:
Originally Posted by Alan Anderson
I'm looking at the suggestions to switch back to Teleop on disable, and I'm thinking about how inconvenient that would make it to test the robot. But instead of just shouting "NO! DON'T DO THAT!" I'm going to try something a little more constructive.
How about making the behavior a configurable option? Those who want it to be difficult to run Autonomous by mistake can set it up that way. Those who prefer it the way it is now don't have to be forced away from it.
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I agree that defaulting back to teleop after every disable is kind of a terrible idea. This would really derail any attempt at iterative testing in autonomous mode, and causes more unexpected behavior than the current configuration.
Keep the disable and e-stop buttons and hot keys. But for each mode, have a separate on-screen button and hot-key to enable this mode, so that by hitting this button or hot-key you are explicitly telling it to enable in a particular. The menu seems really impractical as well since it requires several steps and gets in the way of quick cycling.