Reading Driver Station Input to select Autonomous Routine

[Hjelstrom]

We're using a rotary switch which is just like 4 dip switches. Using 4 bits you get a number from 0-15. We normally call this in "Disabled()". In 'practice' mode it works, we can run different auto sequences at will but we always switch the robot to 'Disabled', then line it up, then 'Enable' again.

Here is the code to read the switch. I do see a logic/comment flaw in that if the inputs were really all zero, then the seq number would be 15 not zero. So maybe in auto the inputs are all pulled high? I recall in previous years, if you ran code like this during auto, you'd always get zero back as the desired sequence.

We're using 'SimpleRobot' and this function is called from 'Disabled()'

	void Read_Auto_Switch(void)
	{
		// Check the auto sequence number only in disabled mode!  During auto, all
		// DS inputs are zeroed.
		int seq = 0;
		bool Dec1 = !ds->GetDigitalIn(1); 
		bool Dec2 = !ds->GetDigitalIn(3);
		bool Dec4 = !ds->GetDigitalIn(5);
		bool Dec8 = !ds->GetDigitalIn(7);
		
		if (Dec1 == true)
		{
			seq += 1;
		}
		if (Dec2 == true)
		{
			seq += 2;
		}
		if (Dec4 == true)
		{
			seq += 4;
		}
		if (Dec8 == true)
		{
			seq += 8;
		}
		if (seq != 0) AutoSeq = seq;
	}

In our constructor, we have "ds = DriverStation::GetInstance();"

With a little experimentation, I think we could have sorted out what was going on yesterday but the auto is working so well we decided not to touch anything! :-)