Initializing autonomous mode

[Mr. Lim]

I'm sure this is quite a newbie question, but here goes:

Before a match starts, what state is the robot in?
i.e. Powered On - Radios Active (program running), Autonomous Mode, but Disabled...
or Powered On - Radios Active (programming running), Operator Mode, but Disabled...
or Powered On - Radios not Active (program not running)...
or etc...

The reason is I'm unsure of how to initialize autonomous mode. I'm concerned that the autonomous program might be running before the match actually begins. And if you have some kind of dead-reckoning involved at the start, it'll get all messed up.

Can someone give me a quick lowdown of exactly how the robot states are setup pre-match, and what happens at the start of the match? Hell, detail the transition from autonomous to operator mode too if it's not as obvious as it should be =).

-Shawn...

[deltacoder1020]

I believe it's something near your second case, but I may be mistaken. Chances are good that autonomous_mode is a true value only during the actual autonomous mode.

[Larry Barello]

I have the system right in front of me and it prints out status and this is what it says:

When "disabled" the user code is in normal mode, running the normal mode loop, reading operator inputs, writing outputs, etc. but all outputs are disabled.

This is regardless of whether the autonomous switch is set or not (IFI dongle)

If the autonomous switch is set, the user code transitions into autonomous mode when the disable is removed.

[Mr. Lim]

Thanks for the quick responses! That answers all my questions!

[Astronouth7303]

Sort of half related: If the OI is unplugged, no code executes.

[Code\\Pilot]

I had the same question once, but i managed to figure it out.
In the OI you can see that you have many ports, and one of those ports is the competition port, through the competition port the referis can stop your robot and activate autonomous. You can make a simulation of the initiation messing with that port.
Here is a link that tells you how:

http://www.innovationfirst.com/FIRST...umentation.htm

it takes to the documentation of innovationfirst.
Click in the link that says "Competition port pin-out guide".
That should help you.

Have fun!!!

Code\\monkey

[KevinB]

Just to summarize as I understand it:

During the time before the match, the RC is ...

• Powered On
• Radios Active
• Programming running
• Disabled

I'm not sure if there is a set standard as to whether or not it is in "operator" or "autonomous" mode; with a dongle -- it is possible to change that mode setting while the robot is disabled.

[Astronouth7303]

as the docs say: USE EXTREME CAUTION!!! Some pins on the Competition port go DRECTLY to the processor