[ace123]

I was also planning on using a switch for autonomous mode, but I guess I have a few more inputs for something else...

AS I was browsing through the code, I noticed this comment:

/* Initialize all PWMs and Relays when entering Autonomous mode, or else it
     will be stuck with the last values mapped from the joysticks.  Remember, 
     even when Disabled it is reading inputs from the Operator Interface. 
  */

This seems to say that inputs are still being read during the autonomous mode?

How do they prevent you from reading inputs during the first Disabled mode, but not later disabled modes after you leave the pad? Do you know how to simulate this outside of the competition or does disable mode automatically disable all OI inputs even after the first time?

My code reads the inputs and prints them out every frame (even autonomous) and every variable ended up at 0 for autonomous mode. It seems that instead, the values should be whatever they were before autonomous mode turned on, not reset to 0.

But, according to other team members, this is not true for disabled mode at the beginning, and you can be allowed to read inputs at some point.

Are the other experienced people on this team wrong? Is this rule new this year?