[ShotgunNinja]

I have been having trouble with my Hybrid mode setup. I'm not sure what exactly is the problem, but I have been led to believe it is my sometimes flawed programming. (See my other posts if you don't believe me). I am using the provided IR board, and with a regular IR remote setup, for a VCR remote. The outputs are (supposedly) wired into Digital In/Out ports #1-4, and the IR board is receiving power.

Here is my code (it's a bit un-simplified, so propagators of KISS please don't complain too much)

/* Some globals: */
unsigned char offsensor1;
unsigned char offsensor2;
unsigned char offsensor3;
unsigned char offsensor4;

/* Initialize */
void Initialize(void)
{
   InitIRSensor();
   /* ... */
}

/* InitIRSensor */
void InitIRSensor(void)
{
   offsensor1 = GetDigitalInput(1);
   offsensor2 = GetDigitalInput(2);
   offsensor3 = GetDigitalInput(3);
   offsensor4 = GetDigitalInput(4);
}

/* Autonomous */
void Autonomous(void)
{
   unsigned char irsensor1;
   unsigned char irsensor2;
   unsigned char irsensor3;
   unsigned char irsensor4;
   int action = 0;
   
   while( IsAutonomous() )
   {
      irsensor1 = GetSensorInput(1);
      irsensor2 = GetSensorInput(2);
      irsensor3 = GetSensorInput(3);
      irsensor4 = GetSensorInput(4);
      if ((irsensor1 + irsensor2 + irsensor3 + irsensor4) >= 2)
      {
         action = 0;
      }
      else if (irsensor1)
      {
         action = 1;
      }
      else if (irsensor2)
      {
         action = 2;
      }
      else if (irsensor3)
      {
         action = 3;
      }
      else if (irsensor4)
      {
         action = 4;
      }
      else
      {
         action = 0;
      }
      HybridAction(action);
   }
}

/* GetSensorInput */
unsigned char GetSensorInput(int sensorPort)
{
   unsigned char value;
   switch(sensorPort)
   {
      case 1:
      {
         value = offsignal1;
         break;
      }
      case 2:
      {
         value = offsignal2;
         break;
      }
      case 3:
      {
         value = offsignal3;
         break;
      }
      case 4:
      {
         value = offsignal4;
         break;
      }
   }
   return(GetDigitalInput(sensorPort) == value);
}