Timer Question

[yoyodyne]

Alan,

I don't know for a fact what the competition port sequence is this year but User_Autonomous_Code() gets called from main() if autonomous_mode is set regardless of the independent disabled_mode flag. It seems to me that to insure that Process_Data_From_Master_uP() is never called until the end of autonomous mode then disabled_mode and autonomous_mode would have to be set true at the same time. Maybe not for long but autonomous_mode has to already be set before disabled_mode is turned off.

We aren't taking any chances so we wait until disabled_mode is turned off and autonomous_mode is turned on to start our autonomous play.

Do you know what the timing is for 2007?

[Alan Anderson]

Originally Posted by yoyodyne

I don't know for a fact what the competition port sequence is this year but User_Autonomous_Code() gets called from main() if autonomous_mode is set regardless of the independent disabled_mode flag.

My testing two years ago shows that the flags are not independent. When the "disable" pin on the competition port is grounded, the disabled_mode flag goes active as expected, but the autonomous_mode flag remains inactive whether or not the "autonomous" pin is grounded. I can state with absolute certainty that User_Autonomous_Code does not get called until disabled_mode goes away, indicating that being disabled keeps autonomous_mode from being true.

Do you know what the timing is for 2007?

The timing of the pins is not particularly important. The "autonomous" pin obviously activates some time before the "disable" pin is released, but your code will see the flags change state simultaneously at the beginning of the match (and at the end of the autonomous period).

[yoyodyne]

Originally Posted by Alan Anderson

My testing two years ago shows that the flags are not independent. When the "disable" pin on the competition port is grounded, the disabled_mode flag goes active as expected, but the autonomous_mode flag remains inactive whether or not the "autonomous" pin is grounded. I can state with absolute certainty that User_Autonomous_Code does not get called until disabled_mode goes away, indicating that being disabled keeps autonomous_mode from being true.

Thanks for that information. Given that the default user code does not support that behavior and Mark's post I assumed that the flags as the user processor saw them were a direct reflection of the OI competition port pins. We need to take another look at our logic to latch the OI autonomous play and initial position switches and the "hand pointed" camera pixel offsets for one or both targets.

[Mark McLeod]

My post applied to earlier field control. I found it to have changed to what Alan saw 2005 and after.

(I'm waiting for my teenager to leave for our regional this morning. Did I ever take this long to get ready in the morning?)