Actually I did search before I posted this message and I read that thread, if I understood correctly, that method was not for me. When I put in
Code:
txdata.user_cmd = 0x02; /* Tell master you want to be in auton mode. */
in user init, the autonomous code runs, but I want to maintain the normal program as it is, most of the code is in the function "Process_Data_From_Local_IO". As I look at the code, it appears as if the main loop is calling User_Autonomous_Code and it is never leaving that loop because the flag "autonomous_mode" is never being cleared. Is there another solution to this other than calling "Process_Data_From_Local_IO" from the autonomous loop?
[EDIT]: I have found another way by setting the autonomous loop to "0" is there a prettier way?