The comp_mode bit is rather useful. While it is equal to 1 (disabled) I use the 8 OI Feedback LEDs to calibrate the 2 joysticks (4 axis). Red means the axis is less than or equal to 127 and Green means the axis is greater than or equal to 127. The Operators have to play around with the calibration wheels until they get all 8 LEDs on before they are cleared for take-off. It's quite fun to watch them and be overly critical by saying things like "You just missed center like 10 times in a row!" and "Are you sure you know how to use a joystick?"
They will point out things like "I got them both on, but that one blinks so much I think I am going to have a seizure"
I am glad the Master uP handles all of the actual disabling of outputs in this Robot Controller. Teams used to mess with the disable bit check in thier code in previous years, and thier beacon would stay on while disabled. This freaked me out because you could never figured out when they were actually disabled. Although with this RC you may still be able to control PWMs 13-16 (User uP controlled PWMs) which is a scary idea that I am sure no one on my team will let me test out. That is if I tell them about it first, I could just tell them it is a new Autonomous strategy
