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Re: phantom commands occuring
You often want it to recieve commands while Disabled, it can be vital to telling what your robot will do when you enable it. If you are using LabVIEW, you can probe things and see if it will try to kill itself. That can save headaches by being able to tell if it is somehow trying to go to -Inf or something (Our robot wanted to wind the kicker to -Inf today) or backwards or if that giant 3' arm with 600 ft-lbs of torque is trying to go to a point in the robot or something. Recieving outputs when Disabled is also useful to prepare for Autonomous by getting OI selector switches before they disable OI data during autonomous.
There is no way the software will let you drive outputs while disabled unless something is very wrong, don't worry about it.
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