[ldeffenb]

Code for compressor control has never been in the default code (believe it or not). What *is* in the default code is software that turns on and off defined relays in response to defined digital inputs. There is also code that outputs values to defined PWM channels based on input values from defined joysticks. Various other digital inputs are coded to provide limits on some of the joystick to PWM "connections".

It is up to the hardware designer to figure out which digital input the pressure switch should be connected to and which relay output the compressor should be driven from. Then you can run the default code.

Otherwise, your hardware designers can tell the software folks which digital input will be the pressure switch and which relay will be the compressor and custom software will need to be written to monitor the state of the digital input and drive the state of the relay to accomplish a control loop.

The default code is sufficient to implement a robotic control system, but you need to wire the controls to fit within the "connections" made between inputs and outputs as defined in the default code reference manual. Nothing fancy is included and no autonomous mode is present.

To get autonomous mode stuff, you go to kevin.org for the PID control loop and command sequencing stuff. That code has its own assumptions about what inputs and outputs are connected to what. It must all be read and understood before anything is actually wired in and/or software loaded.

That's where the rubber meets the road (or the tires meet the carpet) and the real fun begins!