FIRST please fix....

[Chris Hibner]

Originally Posted by Joe Ross

When testing autonomous modes back to back, do you always reboot the robot or use the debug override?

We use the debug overrides to reset everything back to power-up states. We do most of our autonomous testing while running through the play button so we can tweak PID gains while we run, and also so we can see what is going on internally in case we need to debug something.

The biggest reason we do it the way we do is we often use sensors in both autonomous and teleop and the robot is often moving at the end of autonomous. We don't want to do sensor re-cals in that brief period between modes just in case the robot is moving.

Note: we've had problems in the past with the WPI encoder reset and gyro zero/reset so we have our own encoder reset and gyro zero software that runs in disabled.vi. That's why it's important for us not to run that code between auton and teleop: the gyro re-zero code could screw-up our gyro zero-point if that ran while the robot was moving.