[Joel J]

Last year IFI pointed out that the jumpers on the speed controllers could be wired to a digital IO port, allowing you to control in software the mode the speed controller was in. It made sense last year, as a team would have been able to enable brake mode, if the robot started to go in the direction opposite the one it was heading in as the match ended (WHILE DISABLED!). That is, you could have the robot coast up the ramp, and then not slide back down (if the dynamic brake was strong enough).