[PhilBot]

Originally Posted by emmell

Hi Phil (and others): And here's where you'll be proven wrong. At the end of Autonomous, the FMS exits the autonomous program running on the NXT. Your code will definitely stop. The question then becomes: What happens when you exit the NXT code and you have full power applied to the motors? Do the motors stop? I think so. I believe the same thing happens if the bot is disabled by the FMS as well as at the end of teleop.

OK, yeah... I didn't think of that... but I would have discovered it when I tried the cool FMS program

If you are just issuing a regular move motor command, there is a 2.5 second timeout on the Motor controller, so it will stop fairly quickly.

However, the Fixed Position command disables this timeout, and the NXT does a 10 second timeout instead. So if the NXT gets stopped during one of these commands, the robot will continue until it gets to it's encoder target... or forever, if it runs into something.

I'll check this out today