Sequencing Question

[Mark McLeod]

The last thing you should always do in autonomous is zero out all your motors...
The FPGA always remembers and keeps doing the last thing you told it to do.

You can also zero everything in a First Time Only case in Teleop to be on the safe side.

[Egg 3141592654]

Yeah, I figured that the the arm would have hit the required position and the PID would have corrected and done this all for me at the time BEFORE the time terminated. In the last step, all the motors are set back to zero but at that point it was too late, what a shame .

[Mark McLeod]

Yea, in the case of potential unfinished auto actions (PID loop not completing, encoder value not reached, etc.), adding a block in Teleop to initialize everything will safeguard against runaway motors and PID integral windup.

Two simple ways to set that up are:

1. Programming->Synchronization->First Call?
2. The Call Context global in the default Teleop Framework has an Init state.

Either of these can feed a Case statement that duplicates what you have in the last frame of your sequence in Autonomous to stop/halt/pause/wait.