New C18 3.0+ Compatible FRC Code

[Kevin Watson]

Originally Posted by BotnEyedJoe

It started with trying to figure out something unexpected which happens when we hold down the "Disable" button on our competition port dongle while booting the RC. In the function main() in ifi_frc.c, the one-time initializations occur of couse, and the "while (TRUE)" loop is entered, but to our surprise, we see "Teleop_Init()" execute, where we would have expected "Disabled_Init()" to be chosen instead.

The problem is that the main loop is entered before the master processor has sent the first packet, and because neither the disabled or autonomous bits are set, the software first enters teleoperation mode. One quick way to get the behavior you describe would be to modify the code in main() to wait for the first packet before dumping into the while(TRUE) loop. Something like this should work:

statusflag.NEW_SPI_DATA =0;
 
while(statusflag.NEW_SPI_DATA ==0);
 
while(TRUE)

-Kevin