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Originally Posted by KenWittlief
one important thing - if you are going to use the competition_mode flag to determine when you are disabled, the documentation from IFI is WRONG!!
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I actually didn't realize there was such a flag... However, it might be a good idea for those who are using things like PID controllers to stop integrating while not in competition or autonomous mode. That might make a cleaner transition from disabled to the competition/autonomous...
Additionally, we also have a spot in our code where we wait for the user to hit a particular button the OI during competition mode BEFORE the robot starts responding. We don't like the robot suddenly becoming live at the end of autonomous mode. This forces the operator to make sure all the OI settings are correct before enabling the robot during the match.