How does disabled mode work?

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How does disabled mode work?

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13-02-2006, 07:47

gnirts

Suspicious pointer conversion

AKA: Robinson Levin

FRC #1648 (The Gearbox Gangstaz)

Team Role: Programmer

Join Date: Jan 2006

Rookie Year: 2005

Location: ATL

Posts: 116

How does disabled mode work?

I am interested in building a loop that calibrates the gyro bias while the robot is disabled.

1) Is that legal, as long as there are no PWM outputs, etc.

2) What part of the code is running while the robot is disabled? Process_Data_From_Master_uP()? main()? Process_Data_From_Local_IO()? Is statusflag.NEW_SPI_DATA ever set to true? Does that matter, if the gyro is handled in Process_Data_From_Local_IO()?

Thanks in advance,
Robinson

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