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Human Player Phase: auton_mode = 1, comp_mode = 1
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nope, in human player phase, comp_mode =1 and auton_mode = 0! The reason I know this for a fact is because our bot refused to move in auton period during pratice rounds. If auton =1, our bot would have went into auto mode during the human time and would have waited until it could move. Instead, it went into driver mode right away. We use multilple program slots, so the fix was to have the driver code check for autononymous mode and transfer control to its slot if it was on. However, it sounds like you are using one slot with if statements, so this isn't likely to be your problem