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Re: How does disabled mode work?
From the point of view of the robot code, the only thing that's different is the value of the disabled mode flag. All the routines run; all the inputs work. Serial communication, analog inputs, and digital I/O all function exactly the same whether or not the robot is disabled.
None of the actual relay or pwm outputs will be active when the robot is disabled. That's all there is to it.
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