FIRST please fix....

[Chris Hibner]

Originally Posted by John

(the encoders reset at the beginning of auto)

Our software protects against this kind of field fault so I guess it's possible this happened to us but we wouldn't know. We've been doing it this way for years for various reasons.

Here's how we do it (in case anyone is interested):

1) All of the sensor zero-point calculation and resetting is done in disabled.vi

2) We keep a global variable called "VisitedEnabled" which gets initialized to FALSE. As soon as the robot becomes enabled, this variable is set to TRUE and can never become FALSE again without a cRIO reboot (or a debug-mode override).

3) In disabled.vi (or your disabled mode code) sensors are rezero'd/cal'd ONLY if VisitedEnabled is FALSE.