[eugenebrooks]

You have a number of digital inputs available on the side car in the robot. You can wire switches to these inputs and the robot will read them reliably all of the time. You can also use inputs at the driver's station, but these inputs will be adversely affected during autonomous. You have to read and save the values during the disabled period before autonomous is started for later use during autonomous. In past years one has had to be very careful about how you read switches prior to autonomous, to make sure that you get correct values.

Eugene