[Radical Pi]

A little idea I came up with after hearing how the LabVIEW teams have Autonomous handled. Basically in LabVIEW the Autonomous function is called asynchronously, and then terminated by the communications code at the end of autonomous.

I was thinking, why can't C++ teams do this as well? If the Autonomous function was simply called as a new Task, then it can easily be terminated by the main task when autonomous ends, avoiding the whole problem of autonomous code holding teleop from executing.

Additionally, if the autonomous code happens to run into a fatal error and die, the robot would be given a second chance. Since only the autonomous task would be terminated and not the main robot task, the teleop code will still be started on time and the robot is given a sort of second chance.

Most of the code to do this is already in WPILib. The Task class is already there to create the task. All that would need to be done is a few teaks to the SimpleRobot class and everything would work.

Comments?