[Tanner]

To wire switches on the driver stations to control the autonomous mode you must put the switches that decide the autonomous mode in the autonomous disabled case structure because in autonomous mode you cannot read any inputs from the driver station.

And if you're going to use the driver station to choose a autonomous mode, use a switch wired from ground to signal, not a jumper. If you use a jumper chances are you may connect it wrong and short out the driver station (or cause it to reboot - and possibly causing more damage).

Its easier just to wire three switches on the robot to the digital side car and use those. We do that and just have our field team set the switches when they set the robot down. It is easy and simple.

Hope that helps.

-Tanner