[ldeffenb]

And I've been remiss in sending "Thanks" to Kevin, but our software group is LOVING the new code format. It is much more understandable than the earlier default code.

One change we've made is to add a few "always" functions. We hooked them in to the main program and they're called "Always_Spin", "Always_Before", and "Always_After". They get called regardless of the current operating mode. The *_Before and *_After routine get called before and after the invocations of the mode's command packet processing routine.

We did this after we found ourselves adding the same invocations to Disabled_Spin, Teleop_Spin, and Autonomous_Spin for the third time. Always_Spin makes it easy.

Always_After is a handy place to get a last chance to reverse any PWM values for opposing drive motors without having to remember to do it everywhere else. Positive logic rules with the ability to override it for reality where necessary. (Robots shouldn't go forwards when you set PWMs to 0, but when mechanical mounts opposing motors and controls wants red to red to positive consistency, it falls to software to make it all work right).

Lynn (D) - Team Voltage 386 Software