2 questions (programming)

[Kevin Karan]

Rule book 4.3.1ish

AUTONOMOUS PERIOD - During this 15-second period, the ROBOTS operate and react only to sensor
inputs and to commands programmed by the team into the onboard robot control system. Human control of
the ROBOT will not be possible during this time. During this period, ROBOTS may perform any activities
that would be permissible when operated under human control. All ROBOT operation and safety rules
applicable during the operator control period are also applicable during this period.

You could test if you can get control input by creating your own competition port which is in one of the innovation first documents...

[Astronouth7303]

In a real match, the full competion port will be used.

[KevinB]

Originally Posted by jacob_dilles

when the OI is in disabled mode, the robot sees it as off and no data at all is transmited or received.

Wow ...

If you don't know the answer to a question, PLEASE don't respond.

When the robot is set to disabled mode by the Operator Interface, data IS transmitted and data IS received. The ONLY thing that is different when the robot is in disabled mode is that all PWM outputs are set to 127 and all Relay outputs are set to 0. Operator Interface inputs can still be read in by the robot.

During the autonomous period, the reverse happens -- outputs function normally, but the robot sees all OI input as 0 for switches/buttons and 127 (neutral) for joystick axes and pots.

This means, YES you can put switches on the control board to choose autonomous programs and all will work wonderfully.

[Kevin Karan]

Originally Posted by KevinB

Wow ...

If you don't know the answer to a question, PLEASE don't respond.

When the robot is set to disabled mode by the Operator Interface, data IS transmitted and data IS received. The ONLY thing that is different when the robot is in disabled mode is that all PWM outputs are set to 127 and all Relay outputs are set to 0. Operator Interface inputs can still be read in by the robot.

During the autonomous period, the reverse happens -- outputs function normally, but the robot sees all OI input as 0 for switches/buttons and 127 (neutral) for joystick axes and pots.

This means, YES you can put switches on the control board to choose autonomous programs and all will work wonderfully.

thats what I figured.

Human control of the ROBOT will not be possible during this time.

The way they worded it suggests that

[jacob_dilles]

okay my bad.

[steven114]

I used this last year, and I don't think it has changed at all. What you do is you grab the values of the OI autonomous selection switch while the robot is disabled before the autonomous period. Then you store it for later use. Works great.