[Astronouth7303]

Originally Posted by Phil_Lutz

Why do you need to pause the program?
For testing purposes?

If so, you can code a switch, when closed allows the code to execute, when released if stops.

if ((autonomous_mode = 0) || (AUTON_SWITCH = 1))
{
  execute auton code 
}

Or something like that. (I don't have my code in front of me.
AUTO_SWITCH - is an alias to one of the O/I joystick triggers for testing only. Make sure to remove it before comp.

First of all, that's a logical OR. You want AND (&&).

How about this? In main.c:

  while (1)   /* This loop will repeat indefinitely. */
  {
#ifdef _SIMULATOR
    statusflag.NEW_SPI_DATA = 1;
#endif
if (!PAUSE_SWITCH)
{
    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {                                 /* I'm slow!  I only execute every 26.2ms because */
                                      /* that's how fast the Master uP gives me data. */
      Process_Data_From_Master_uP();  /* You edit this in user_routines.c */

      if (autonomous_mode)            /* DO NOT CHANGE! */
      {
        User_Autonomous_Code();        /* You edit this in user_routines_fast.c */
      }
    }
    Process_Data_From_Local_IO();     /* You edit this in user_routines_fast.c */
                                      /* I'm fast!  I execute during every loop.*/
}
  } /* while (1) */

Basically, if you flip the switch, the robot will finish, and then go into a really fast loop: it does nothing until you turn it off. Be sure to but something similar in the auto.mode code: it has its own loop.