[dickswan]

Personally I think what you've done is fine. [I wrote the "joystickDriver.c" code so I have some knowledge of this.]

But as Michael Coleman has commented, it's up to the local competititon "Field Adminstrator" to make the call.

If your chooser code only displays to the screen before you get to the field, then I think you'd probably be OK.

Another alternative that you might want to consider is having a separate program to select which of the four choices. It could write this to a file on the NXT -- perhaps only containing a single character. Then your autonomous program could read this file and make the appropriate decision. If you want help with this, email me directly (dickswan@sbcglobal.net) and I'll send you more details.

NOTE: the diagnostic information on the NXT screen for the Field Management system is somewhat of a pain. This is information that the Field Management System could interrogate from the NXT (via Bluetooth) and display on the FMS. However, this was too big a change to make late in the season and instead this information was added to the LCD display.