Autonomous enable/disable

[Culvan Van Li]

Thanks for the help. This code is working now. I setup counters to handle the state changes. I have to set the motors to 128 for 5 cycles during the transition to prevent little hiccups. You were also right that it takes about 15 cycles for the controller to find the transmitter. The down side is that the autonomous mode stops for about a 3rd of a second ever few seconds to check for the transmitter. Because it's easy to detect the loss of transmitter there's no problem while I've got the transmitter on.

Let me know if you think of a way to do this on the fly so I don't have the downtime in my autonomous mode.

Andy