Tom,
This year is the first time we've done autonomous mode selection from the OI. I used code supplied by Travis Hoffman from Team 48 - Delphi Elite in the following post:
http://www.chiefdelphi.com/forums/sh...ad.php?t=34702
It is the third post down.
In a nutshell:
1) In autonomous mode, all the OI variables (p1_x, p1_sw_trig, etc) are reset to default values - 0 for switches, 127 for analog
2) In your tele-operated code (Default_Routines) add code to copy the OI variables you need into a set of static variables when you are NOT in autonomous mode
3) In your autonomous code, use the static variables you copied everything over to in step 2, to select your autonomous mode
The code in the link above from Travis should be enough to get you through. If you wish, you can contact "Embok" here on Chief Delphi. He was our programmer responsible for the OI autonomous selection code. He will be able to post our code and provide any help you may need.
-SlimBoJones...