Autonomous Mode

[fallen751]

I have been coding our autonomous mode, but it seems that everytime I switch into autonomous mode it kills the camera. I was wondering if anyone could tell me if this code would keep the camera from running during autonomous mode.

void User_Autonomous_Code(void)
{

  /* Initialize all PWMs and Relays when entering Autonomous mode, or else it
     will be stuck with the last values mapped from the joysticks.  Remember, 
     even when Disabled it is reading inputs from the Operator Interface. 
  */
  pwm01 = pwm02 = pwm03 = pwm04 = pwm05 = pwm06 = pwm07 = pwm08 = 127;
  pwm09 = pwm10 = pwm11 = pwm12 = pwm13 = pwm14 = pwm15 = pwm16 = 127;
  relay1_fwd = relay1_rev = relay2_fwd = relay2_rev = 0;
  relay3_fwd = relay3_rev = relay4_fwd = relay4_rev = 0;
  relay5_fwd = relay5_rev = relay6_fwd = relay6_rev = 0;
  relay7_fwd = relay7_rev = relay8_fwd = relay8_rev = 0;

  while (autonomous_mode)   /* DO NOT CHANGE! */
  {
    if (statusflag.NEW_SPI_DATA)      /* 26.2ms loop area */
    {
        Getdata(&rxdata);   /* DO NOT DELETE, or you will be stuck here forever! */

        /* Add your own autonomous code here. */
		if(Get_Tracking_State() == CAMERA_ON_TARGET)
		 {
			
			static char oldpwm01, oldpwm02, oldpwm03, oldpwm04;
			int slowpwm01, slowpwm02, slowpwm03, slowpwm04;

			while (PAN_SERVO > 130) 
				{
					pwm01 = 147;
					pwm02 = 147;
					pwm03 = 147;
					pwm04 = 147;
				}
			while (PAN_SERVO < 124)
				{
					pwm01 = 107;
					pwm02 = 107;
					pwm03 = 107;
					pwm04 = 107;
				}
			while (rackdistance[servotodegrees(TILT_SERVO) * 2] >= 24)
				{
					int prepwm01, prepwm02, prepwm03, prepwm04;

					prepwm01 = prepwm02 = prepwm03 = prepwm03 = 127;

					prepwm01 += 1;
					prepwm02 -= 1;
					prepwm03 += 1;
					prepwm04 -= 1;

					if (prepwm02 > 127 && prepwm02 < 170)
						{
							prepwm02 += 12;
						}

					if (prepwm04 > 127 && prepwm04 < 170)
						{
							prepwm04 += 12;
						}

					pwm01 = prepwm01;
					pwm02 = prepwm02;
					pwm03 = prepwm03;
					pwm04 = prepwm04;

					oldpwm01 = pwm01;
					oldpwm02 = pwm02;
					oldpwm03 = pwm03;
					oldpwm04 = pwm04;
				}

			slowpwm01 = oldpwm01;
			slowpwm02 = oldpwm02;
			slowpwm03 = oldpwm03;
			slowpwm04 = oldpwm04;

			while ((rackdistance[servotodegrees(TILT_SERVO) * 2] < 24) && (rackdistance[servotodegrees(TILT_SERVO) * 2] >= 5))
				{
					slowpwm01 = slowdown(slowpwm01);
					slowpwm02 = slowdown(slowpwm02);
					slowpwm03 = slowdown(slowpwm03);
					slowpwm04 = slowdown(slowpwm04);

					pwm01 = slowpwm01;
					pwm02 = slowpwm02;
					pwm03 = slowpwm03;
					pwm04 = slowpwm04;
				}

			if (rackdistance[servotodegrees(TILT_SERVO) * 2] < 5)
				{
					pwm01 = pwm02 = pwm03 = pwm04 = 127;
				}
		}

	else
		{
			pwm01 = pwm02 = pwm03 = pwm04 = 127;
		}

        Generate_Pwms(pwm13,pwm14,pwm15,pwm16);

        Putdata(&txdata);   /* DO NOT DELETE, or you will get no PWM outputs! */
    }
  }
}