TeleOp Init/Stop vs. Auton-Iterative Init/Stop

[Greg McKaskle]

Good questions.

The framework for LV will guarantee that the first time through a mode like auto, that you'll run the init once, and when the mode switches to something else, it guarantees that you run Stop once. These are not officially part of the protocol, and if you use Begin, you really don't have to do anything there. The framework was written to support a number of programming styles.

The match states you list skip one transition I think you'll see. Specifically, at the end of auto, I believe the transition is auto-enabled to auto-disabled to tele-disabled, then to tele-enabled. This has only one bit changing at a time.

I believe this is the same transitions you'll see if you use the practice match feature of the DS. On the other hand, it would be best if your resource usage would be robust in case the field starts in tele disabled, say, then goes to auto-disabled before the match. Little glitches like this are not that unusual.

Greg McKaskle