[JamesCH95]

Carefully choosing "NO" and "NC" switches can be an important decision. I.e. in 2013 we had NC switches to detect when we ran into the bridge that helped the robot self-align by slowing or disabling forward motion on one side of the drivetrain. Well... if one switch got damaged or disconnected the robot wouldn't drive forward! We implemented a manual override because we could do that quickly in code (i.e. the sensors exerted no authority until the operator said they could) but a more robust solution would have been NO switches.

We do like our manual override options. If we see the robot start to do something it's not supposed to do we usually have a switch or a button to turn off any automated processes and turn complete control over to the operator. This is, of course, a double-edged sword, how far to push a potentially vulnerable robot is up to the driver's judgement.