[Kris Verdeyen]

A new wrinkle:

Posted on IFI's FAQ site yesterday:

Originally Posted by People who wanna muddle issues

Can you verify that in the disabled mode, the robot still recieves input from the operator interface, but does not output to pwms or relays. If at the begining of a match, in the disabled mode, the operator sets some switches (stores it in some variable) to tell the robot which autonomous program to run. When the robot enters autonomous mode, it will be able to access the variable and know which program to run. Is this possible with the current hardware setup? So instead of placing switches on the robot to tell it which autonomous program to run, we can use switches connected to the operator interface.

Yes, the RC still receives data from the OI unit while the RC is Disabled. Also on the RC unit, all PWM Outputs are set to 127 and Relay Outputs are set to 0V. Yes, if the operator sets some switches on the OI and stores the data in some variables, the robot controller could access those variables during Autonomous Mode and know which program to run. So yes, you can have switches on the OI instead of the RC to tell which autonomous program to run as long as the switch data is stored in a different variable. All switch data from the OI during Autonomous Mode is set to 0.