[Koci]

Actually, you could use digital inputs on the OI, as there are two variables, one for autonomous, and one for competition. Communication exists between the OI and the RC, although no outputs may be changed. However, inputs can still be received.

It's better to have the controls connected to the OI, because a situation may occur where you may notice a different setup by the opposing robots (especially during finals, when you don't know which 2 robots are selected, or which side they're on), and you can change your own autonomous immediately.