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Originally Posted by T. Hoffman
Really, if you use toggle switches or other devices which maintain their state once you set them, you don't have to wait for the robot to be turned on before setting up your controls at the player station. Just use the toggles to choose the autonomous settings you want and then step back behind the line and wait for the match to start. In your program, you still need to copy the OI variable values to your own custom variables in order for them to be accessible during autonomous, because all OI variables are reset once autonomous starts.
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Actually, this would not work. A similar question came up in another thread, so I asked Tony Norman at IFI exactly how and when various data may be passed between the OI and RC. Tony double-checked and said that the field control system will not allow any data to be passed between the OI and the RC prior to the start of the match and the completion of the autonomous period. The OI and RC will both be active, but the field control system (which is different this year than last year) will prevent them from communicating.
So if you want to have a switch or dial setting to choose between autonomous programs, you should put it on the robot and not on the OI. The RC will be able to read the state of any switches, sensors, etc. that are local to the robot when it is powered up, and can use that information during the autonomous period.
Just to complete the story, if the robot is disabled later during the teleoperated period (like when the human player steps off the pressure pad sensor) communications between the RC and OI can continue. But the field control system will disable all the outputs from the RC so the system cannot activate any motors or actuate any other devices.
-dave