[DKolberg]

The OI does know what state it is in. It knows when it is in competition mode, disable mode, or autonomous mode. Your control loops should be aware of which state the sytem is in and provide code for transitioning between each state. You can use different controls for each state, but anything with memory like integrators should be delt with as the system changes from state to state. All memory type variables should be initialized to a known state while not being used in a specific state so it is ready to be used when the new state starts.