[10intheCrunch]

If your robot will boot and run at all, then you can escape code error problems very easily. Simply hit the reset button on your OI after autonomous has ended, and your robot will start back up without the auto mode bit set and you'll be able to run as normal. I know Chief Delphi had that problem in their last elimination round at SVR and didn't get reset until about 20 seconds left, and it was painful to see such a good robot go down because of a very fixable problem.