Despite what IFI says, you can configure autonomous from OI...

[Phil_Lutz]

Originally Posted by TedP

During this disabled time, simply sample the state from your OI and store that somewhere where it won't be touched. When it moves into autonomous mode, read from that the proper state of the autonomous mode. You've now configured your RC from the OI.

Can you provide a sample of your code that displays this?
I am curious, but don't quite "see" it.

We mounted 2 switches on the robot to indicate which auton mode we wanted and which side of the field we were on.

If I'm hearing you right, what you are saying is I can have these switches on my OI (say port3) and read them in Disabled mode and act on then when not disabled.

Thanks,

Phil