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Originally Posted by Alan Anderson
It sounds like Tony is describing autonomous mode, not disabled mode. With the documented features of the system, I know of no way to prevent the kind of communication required to implement a mode switch on the OI...
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Whoops.
SlimBoJones pointed out the way to do it. If the FIRST field system sets the autonomous mode pin active early, even before field setup, and doesn't release it until the beginning of teleoperated mode, that would indeed keep the robot from ever getting information from the OI controls until after the match begins.
It would also break every autonomous program I've ever seen, since they universally assume the autonomous_mode flag will become active at the start of the match. They would blindly start running as soon as communication with the OI was established, but the robot would still be disabled. Default code version 2.4 works that way. Can someone with both a copy of the "scripted autonomous" software and a grasp of the software issues involved look to see how it's handled there?