[X-Istence]

Remember, when something is plugged into rc_dig_in[1-16] it is on, when the switch is actually off:

switch off == 1 in code
switch on == 0 in code

This caught me by surprise.

My team used rc_dig_in[1-3] to create 7 different modes:

000 = off
001 = 1
010 = 2
011 = 3
100 = 4
101 = 5
110 = 6
111 = 7

Code is below for what you can use to do this. Stick it in user_routines_fast.c to make use of it, make sure to change it to what you need to use it for .

unsigned int Auton = 0;

unsigned char flip (unsigned char input) {
	if (input == 1)
		return 0;
	if (input == 0)
		return 1;
}


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! */
		// We have to shift the second and the third bits
		
		Auton = flip(rc_dig_in01) | flip(rc_dig_in02) << 1 | flip(rc_dig_in03) << 2;
		
		if (Auton == 0) {
			// do absolutely nothing
		}
		else {
			if (Auton == 1) {
				// see 7
			}
			if (Auton == 2) {
				// See 7
			}
					
				
			if (Auton == 7) {
			    // Do stuff when in binary added up together it is 7
			}
		}
        Putdata(&txdata);   /* DO NOT DELETE, or you will get no PWM outputs! */
    }
  }
}