Quote:
Originally Posted by Kevin Watson
Okay, it's easy enough to do, but disabled mode is nominally called three times each round (before autonomous, between autonomous and teleop, and after teleop). Should Disabled_Init( ) be called each time, or only the first time? If only the first time, under what conditions would the default_init_flag get reset?
-Kevin
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In answer to your initial question about the need for a Disabled_Init() function... we also used this to trigger calibrating the Gyro. The actual callibration only occured if we stayed in disabled mode for several seconds.
We put in the delay because we didn't know if the system transitioned through Disabled between auto and teleop. Based on your post, I'm glad we took that precaution.
We also did it for code symetry more than anything else.... Yes, I also indent all my "=" signs the same amount. Just call me anal.
I think the Disabled_Init() is most usefull once before the match begins, so that would mean that you wouldn't really want it called between Auto and teleop.
I thought that it might also be good to call it on the transition from Teleop back into Disabled (to indicate that there might have been a field reset situation after a bad start) but the bot is in an unknown state at that time anyway (maybe on it's side) so you wouldn't necessarily want to make any callibration assumptions.
In the end I guess this function would only be called after reset, so it is a bit redundant with Initialize(). Although, if the function is resetting variables that only get used in disabled mode, then my anal side says that that's where they should be declared and initialized
This is also what we did with our UserIF, Drive, Manipulator and VisionSystem variables. Declared and initialized in subsystem modules.
Thanks for even considering it
Phil.