[the_undefined]

I think what he means with right place is this are of your user_routines_fast.h file. Just call your autonmous function from here and you should be fine.

Bye

Felix

void User_Autonomous_Code(void)
{
  /* 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. 
  */
    pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
    pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
    relay1_fwd = relay1_rev = relay2_fwd = relay2_rev = 0;
    relay3_fwd = relay3_rev = relay4_fwd = relay4_rev = 0;
    relay5_fwd = relay5_rev = relay6_fwd = relay6_rev = 0;
    relay7_fwd = relay7_rev = relay8_fwd = relay8_rev = 0;

  while (autonomous_mode)   /* DO NOT CHANGE! */
  {
    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {
        Getdata(&rxdata);   /* DO NOT DELETE, or you will be stuck here forever! */

        /* Add your own autonomous code here. */

        //robot_control();

        Generate_Pwms(pwm13,pwm14,pwm15,pwm16);

        Putdata(&txdata);   /* DO NOT DELETE, or you will get no PWM outputs! */
    }
  }
}