Quote:
Originally posted by Nate Smith
Pre Match: auton_mode = 0, comp_mode = 1
Human Player Phase: auton_mode = 1, comp_mode = 1
Autonomous Phase: auton_mode = 1, comp_mode = 0
Remote Control Phase: auton_mode = 0, comp_mode = 0
Post Match: auton_mode = 0, comp_mode = 1
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These are probably the signals that the control system is sending to the OIs. However, the OIs themselves will not send down the autonomous bit to the RC unless BOTH autonomous is set AND it's not disabled.
Originally we had our switch wired up such that by flipping one switch, we grounded the auto pin and un-grounded the disabled pin at the exact same time. When we did it this way, there were 1 or 2 packets that went to the robot that enabled the robot but didn't have autonomous set. When we instead wired it up with two switches such that we could enable autonomous and then after that enable the robot, it would go straight from disabled with no auto to enabled with auto all at once.
My guess is that this is the same change that IFI made to the arena control system.