Quote:
Originally Posted by EHaskins
Previously the same code would be run in the robot was Disabled or Enabled. The outputs were just disabled.
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Actually, you could always determine if the robot was disabled or enabled, the default IFI code just didn't make use of it and neither did most teams' custom code.
My team, and probably several others (I know Chief Delphi does it or at least did it at one point), implemented mode determination to help prevent integrator wind up in PID loops.