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Originally Posted by Joe Johnson
The way it works is that your robot has to be not in AUTONOMOUS MODE, DISABLED and the OI has to be in USER MODE.
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That's surprisingly similar to ours. I guess ours is a dumbed down version, but it's worked almost flawlessly the past two years.
Ours has a selector switch (10 position I think) where we select the autonomous program that we want to run. That coupled with the R/L switch on the robot selects the waypoint list that will get executed. While the robot is DISABLED and not in USER MODE, the RC is constantly taking the value of the OI auton selector and assigning pointers to the correct list (actually an array in memory, but that doesn't matter). Once the driver goes into USER MODE, we lock in the autonomous program and any changes to the selector switch are ignored. The OI display follows XYZ, where X is 0 for right, 1 for left; Y is the program number; Z is the current waypoint number in the program.
I said it's been almost flawless because at Nationals in 2003 we failed to run autonomous in one of our qualification matches. One of the field crew members hit our OI select button and took us out of USER MODE after the drivers locked us in. No one noticed so no one re-locked us in. Apparently we needed to be in USER MODE in 2003 for us to run auto so we just sat there for 15 seconds.