Quote:
Originally Posted by mikets
BTW, I always thought motor safety is to safe guard buggy code from losing control of the robot. But then I think about it, even with motor safety, buggy code can still cause the robot to runaway uncontrollably. So the purpose of motor safety is really for safe guarding losing communication with the joystick such that the motors will stop instead of running at the last set speeds. Therefore, that's why there is no point of turning safety on during Autonomous since there is no joystick involved. Is my assumption correct?
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Your first thought is correct. The motor safety code is there to prevent a motor from continuing to run if the program doesn't keep controlling it. There's a separate system watchdog that shuts down all robot outputs if communication is lost.
While there are reasons to keep a float charge on your batteries, it may be like giving your son a flu shot when he has the measles. - rtfgnow [more] 
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