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Can we have any way to switch commands during Autonomous from the driver station?
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No, not DURING autonomous per G14
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G14 During AUTO, DRIVE TEAMS may not directly or indirectly interact with ROBOTS or OPERATOR
CONSOLES unless for personal safety, OPERATOR CONSOLE safety, or pressing an E-Stop for ROBOT safety.
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However,
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Have a big setup of buttons we could push for the obstacle we're coming up against?
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Yes, this is allowed as long as you push the button before autonomous starts. It is ok to have multiple auto modes programmed for each defense and have a big setup of buttons to choose the auto mode you wish to run, you just have to select it before the match starts.