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

[TedP]

Originally Posted by MikeDubreuil

I have actually never checked. I was operating under the assumption that all inputs would be set to neutral, 127 for an analog input and 0 for a digital input.

The inputs go to all neutral. That is, they go to all 127 and 0 for analog and digital respectively.

This actually caused a big problem with our arm, takes in that 127 input and uses it as a position set point. Our initial set point wasn't 127. So the first time we jumped into autonomous mode, our arm very quickly lurched forward so that both of its joints were at 127! It was quite an annoying little find. We had to not pay attention to Getdata for those inputs during autonomous mode.

This is why I say you need to SAVE your inputs while in DISABLED mode. Then in autonomous, you can REMEMBER what they were before they got cut off from your vision.

LATCH first, use later.