Autonomous problem.

[Ian McShane]

If i go to the case structure in the Robot main Vi. and go to the autonomous enabled in the case structure. if i change something in there then will it achieve the same result of having no autonomous or do i just have to set a value of my motors to 0 in the vi itself?

[Greg McKaskle]

There are many ways to break the autonomous routine so that the robot sits still.

The correct answer as to how you should disable it depends a bit on how you have modified the framework and initial code.

The VI that launches the autonomous has the green light on it. If you disable that, no auto. Periodic tasks will still run, so if you have control code there, be sure to set your setpoints in Begin or elsewhere.

You can also write another autonomous VI that does nothing and drag that over the VI refnum on Begin. That will specify that you would rather it call that VI instead of the Autonomous Init. This is also easy to fix and even make dependent on a DS setting.

And of course there is nothing wrong with disabling the code in the Auto VI.

Greg McKaskle