[TubaMorg]

yes the teleopPeriodic method is the one that makes most sense for competition. You can assume that each of the periodic functions in the iterative robot class are loops.

So the disabled method is good for handling chores you want taken care of before the robot is enabled in either autonomous or teleop. As you stated you can initialize all of your motors, variables, digi i/o, whatever. Also we are using the disabled method to set our autonomous mode. Pulling a trigger on one of our joy sticks will cycle through our auto modes that will be called once autonomous is entered. Yes the program still reads input even though disabled. You just don't get output to the robot.