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As I add other devices, should I expand the array and add those errors?
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yes, as you open more devices, you can expand the error array and feed the error out, to the error array.
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Is whatever is handling errors able to expect errors from additional devices, or do I need to modify something else to anticipate them?
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If by whatever you mean the watchdog, then that works for you. The watchdog in simple terms makes sure your code runs smoothly and controls any mishaps.
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Are these errors that are going to be displayed in the Driver Station?
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yes, any errors that you come across will be displayed in the Error message box in the diagnostics tab on the driver's station.
Hope this helps!