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Originally Posted by jacob_dilles
when the OI is in disabled mode, the robot sees it as off and no data at all is transmited or received.
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Wow ...
If you don't know the answer to a question, PLEASE don't respond.
When the robot is set to disabled mode by the Operator Interface, data IS transmitted and data IS received. The ONLY thing that is different when the robot is in disabled mode is that all PWM outputs are set to 127 and all Relay outputs are set to 0. Operator Interface inputs can still be read in by the robot.
During the autonomous period, the reverse happens -- outputs function normally, but the robot sees all OI input as 0 for switches/buttons and 127 (neutral) for joystick axes and pots.
This means, YES you can put switches on the control board to choose autonomous programs and all will work wonderfully.