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Re: Code error causing robot to go into programming mode.
The master CPU is in charge of putting the robot in program mode. Without specific additional hardware, there is not supposed to be any way for the user program, misbehaving or otherwise, to do it.
Is something intermittently grounding the PROG pin on the RC? Make sure the three-pin PROG/RESET connector is free of metal shavings. Is your master code corrupt? Try reloading it (and remember to reload your user code immediately afterward).
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