[popnbrown]

I understand your program Brad, however our IR Board sends a value of 0 to digital inputs 1, 2, 4 and a 1 to digital input 3. When the button for the corresponding inputs are pressed the values stay and do not change.

Instead of using the rc_dig_in variables that Kevin Watson uses. I use the WPILib function GetDigitalInput().

	
if(GetDigitalInput(IR_IN1))
	printf("IR #1\n");
else if(GetDigitalInput(IR_IN2))
	printf("IR #2\n");
else if(GetDigitalInput(IR_IN3))
	printf("IR #3\n");
else if(GetDigitalInput(IR_IN4))
	printf("IR #4\n");

I also understand that for the DigitalInputs to work I have to set whether they are used as inputs are outputs correct? so therefore I use SetDirection() for the used Digital Ports.

SetDirection(IR_IN1, INPUT);
SetDirection(IR_IN2, INPUT);
SetDirection(IR_IN3, INPUT);
SetDirection(IR_IN4, INPUT);

The port parameters all refer to macros, defined like:

#define IR_IN1 2
#define IR_IN2 3
#define IR_IN3 4
#define IR_IN4 5

One last thing, in CheckIR()

void CheckIR(void)
{
	unsigned char current = 0;
	unsigned char changed;
	if (rc_dig_in05) current |= 1;
	if (rc_dig_in06) current |= 2;
	if (rc_dig_in07) current |= 4;
	if (rc_dig_in08) current |= 8;
	
	changed = previous ^ current;
	irCommands |= (~previous) & current;
}

after each if statement could you not just do whatever each button does right after the statement, instead of using three different variables. For example,

void CheckIR(void)
{
	unsigned char current = 0;
	unsigned char changed;
	if (rc_dig_in05) Autonomous1(); //Autonomous1() is a function that does what command one is intended to be used for
	if (rc_dig_in06) current |= 2;
	if (rc_dig_in07) current |= 4;
	if (rc_dig_in08) current |= 8;
	
	changed = previous ^ current;
	irCommands |= (~previous) & current;
}

Thanks for your help ahead of time,
Sravan