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Unread 16-02-2005, 14:40
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Re: Receiving info from OI to select autonomous mode

Quote:
Originally Posted by Alan Anderson
Whoops. SlimBoJones pointed out the way to do it. If the FIRST field system sets the autonomous mode pin active early, even before field setup, and doesn't release it until the beginning of teleoperated mode, that would indeed keep the robot from ever getting information from the OI controls until after the match begins.

It would also break every autonomous program I've ever seen, since they universally assume the autonomous_mode flag will become active at the start of the match. They would blindly start running as soon as communication with the OI was established, but the robot would still be disabled. Default code version 2.4 works that way. Can someone with both a copy of the "scripted autonomous" software and a grasp of the software issues involved look to see how it's handled there?
To look at the OI switches during disabled mode (before autonomous is on) do we have to add a fuction that looks at the variable disable_mode and then if it is on, stores the operator joystick values in a temporary variable.

This is what we have added into our program for now. But my question is that...if your program in main.c checks to see if disable_mode is on before autonomous_mode won't it still be able to recieve values from the joysticks? Even if it only does it one time? Or is there some other program in the master processor somewhere that prevents this from happening if both autonomous and disable are on at start up.
 


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