[Eldarion]

Originally Posted by dcbrown

My guess is that autonomous is applied to all 'bots on the field, and robot disables are both individual along with a global field disable. So if you are disabled for rules infraction while in autonomous mode, then I'd expect autonomous would be still active but your individual robot would have disabled applied. The robot state would then be !Enabled/Autonomous state.

It might seem esoteric, but what if you wanted to do something in the last 4 seconds of autonomous period... like gain a certain field position... to set up for manual play. Yeah, I know you might not have won the autonomous period so might be putting the robot in the WRONG position but that is part of the fun of selecting autonomous strategy. So, you'd like to know in the code how much time you have left. If you start counting when autonomous is enabled but disabled is still applied then you'd be counting time wrong. I suspect these two input changes happen very close together, but still I'd rather understand the risks associated with states we're ignoring vs get surprises during competition events.

Regards,
DCBrown

It would seem pretty simple to start counting in the autonomous initialization routine, as it will not be executed until the actual autonomous mode starts.