[Jon Stratis]

If you're using one of the standard code bases out there (either the one from last year on ifi's website or Kevin's from the thread at the top of this forum or easy C), then yup. You just have to fill in your parts. The init functions in both of those bases are called once, then the other portion is called repeatedly every 26.2ms until the state switches. You don't have to worry about the logic to switch between autonomous and user control.

The only thing you got wrong was "And then before the competition the staff attaches a piece of hardware to the Competition port on the Operator Interface board"... They have the cable there in every player station, but you're the one that has to attach it to your OI!