[BotnEyedJoe]

This new code is a wonderful improvement. I especially like its straightforward approach, and simplified way of inserting mission-specific code. It has been a joy to use. But there's still something I'm trying to figure out about it, so if anyone can help, I'd be grateful...

It started with trying to figure out something unexpected which happens when we hold down the "Disable" button on our competition port dongle while booting the RC. In the function main() in ifi_frc.c, the one-time initializations occur of couse, and the "while (TRUE)" loop is entered, but to our surprise, we see "Teleop_Init()" execute, where we would have expected "Disabled_Init()" to be chosen instead.

Now the first thing inside the "while (TRUE)" loop is the test "if (disabled_mode)...", where disabled_mode is a field inside rxdata. But I don't see where rxdata has been set at this point. It appears to be set later on through calls to Getdata(&rxdata), once statusflag.NEW_SPI_DATA becomes 1.

Could someone enlighten me as to what I'm missing about the initialization of rxdata, specifically fields disabled_mode and autonomous_mode? Or is this, like, maybe a problem?

If you've read this far, thanks, but while we are in this vicinity, I also have a question about "statusflag.NEW_SPI_DATA", which before the "while (TRUE)" loop is set to 0. I assume it is really "volatile" even though I can't find that in any of its declarations (again I'm missing something?), but if it isn't 1 by the time we go through that loop the first time, wouldn't a _Spin() function be called before its corresponding _Init()? Is there some mechanism preventing this, or do we need to take this possibility into account in programming the _Spin() functions?

Anyway and everyway possible, Kudos to Kevin, he has made our world more enjoyable through his efforts!