[Astronouth7303]

We used 5 switches on the OI: 1 for side select, 4 for auton select. Each of the 4 switches represents a bit. We set a variable with these values in Process_Data_From_Master_uP() (which got me to notice the bug in main.c).

For Auton, we do this:

//...
while (autonomous_mode)   /* DO NOT CHANGE! */
{
 // Do instructions
 switch (AUTON_MODE)
 {
  case 0:
   //Do nothing
   break;
  case 1:
   Auton_1(); break;
  case 2:
   Auton_2(); break;
  case 3:
   Auton_3(); break;
  //...
 }
 if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
 {
  Getdata(&rxdata);   //DO NOT DELETE, or you will be stuck here forever!   
  Putdata(&txdata);   // DO NOT DELETE, or you will get no PWM outputs!
  Generate_PWMs(pwm13, pwm14, pwm15, pwm16);
 }
 Process_Data_From_Local_IO();
}// End Loop

Then, we wrote the Auton's in seperate files.