[Tom Bottiglieri]

Originally Posted by lkdjm

Ok, good, I didn't realize that you could be locked on before autonomous starts, that cuts off a lot of time. But still, you will be facing straight, you may lock onto the wrong target, and even if you do happen to lock onto the right target, you have to make a turn twords the right target, and during that turn, it make loose the target. Thank you for the amazingly fast response at 3:30 in the morning. Clearly we have no lives, lol.

It could be done something like this

#define BEGIN_DISABLE     0

extern char robot_state=0;

Process_Data_From_Master_uP{
	switch(robot_state)
	{
		case: BEGIN_DISABLE
		{
			Tracking_Stuff();
                        break;
		}
	
		
		default: break;
	}

	Other Stuff...
	
	Default Routine;
}

(I put the switch statement in just in case you wanted other robot 'modes')

User_Autonmous_Mode
{
	robot_state=1;
	
	Autonomous Stuff;
}