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

[Alan Anderson]

Originally Posted by Greg McKaskle

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.

I'm counting on the field starting in Teleoperated disabled. That's how it has always been in the past, and that's the only way information from the Driver Station can get to the robot before Autonomous begins.

(In the pre-cRIO days, it was not possible for the state to be both Autonomous and Disabled simultaneously.)

[Ziaholic]

Originally Posted by Alan Anderson

I'm counting on the field starting in Teleoperated disabled. That's how it has always been in the past, and that's the only way information from the Driver Station can get to the robot before Autonomous begins.

We'll have to get to the bottom of this one ... I don't know why they'd start us up in TeleOp Disabled if Auton is the mode that we switch to when the gun goes off.

[Greg McKaskle]

Hmm. I didn't know about the field before 09. And since I cannot be sure about the field code, I'd say your better odds are on what Alan is saying. On the other hand, I'm certain that the practice match behaves as I described. Of course you can easily flip there from Tele.

Also, you should verify independently, but this year, the robot communications code automatically latches the joystick state and the I/O state before transitioning to Auto Enabled. This acts as both a filter to ensure no joystick inputs drive the robot, and to make it simpler for teams to access their switches and joystick throttles, etc.

Greg McKaskle

[Alan Anderson]

Originally Posted by Greg McKaskle

Also, you should verify independently, but this year, the robot communications code automatically latches the joystick state and the I/O state before transitioning to Auto Enabled. This acts as both a filter to ensure no joystick inputs drive the robot, and to make it simpler for teams to access their switches and joystick throttles, etc.

That's a fundamental change to the way Autonomous mode has handled operator input since it was introduced. Is there some official documentation for that behavior, or should it be considered oral tradition?

If the automatically latched values are indeed something we can count on, implementing code to select autonomous options is now much simpler.

As for joystick values etc. being passed to the robot in Autonomous Disabled, that too contradicts the long-understood condition that Driver Station inputs are not available during Autonomous. Again, is there an official description that tells us how it really works now?

Lest it seem otherwise, I'd like to point out that I'm very happy to know this. I'm only concerned because I don't know how I would have found it out if I hadn't been making reading the Chief Delphi forums a priority.

[Greg McKaskle]

Very good questions. I'm not sure how the old system was documented, and I'm not sure who's documentation should call this out. But since this change is backwards compatible, it seemed like a simplifying change that still avoids any joystick direction during auto, but instead of zeroing fields, it latches.

If you have an idea of where to add the documentation so that teams will find it, we can provide the technical details.

Greg McKaskle

[jhersh]

Originally Posted by Alan Anderson

I'm counting on the field starting in Teleoperated disabled. That's how it has always been in the past, and that's the only way information from the Driver Station can get to the robot before Autonomous begins.

(In the pre-cRIO days, it was not possible for the state to be both Autonomous and Disabled simultaneously.)

I'm pretty certain that the FMS will start the round in Auto Disabled. control inputs are sent to the robot during Auto Disabled. Only during Auto Enabled are the control inputs filtered.

Originally Posted by Ziaholic

We'll have to get to the bottom of this one ... I don't know why they'd start us up in TeleOp Disabled if Auton is the mode that we switch to when the gun goes off.

Exactly... which is why the FMS starts in Auto Disabled.

[Joe Ross]

As a side note, unless you modify Robot Main.vi, it doesn't matter if it starts in Auto Disabled or Telop Disabled, as they both call Disabled.vi.

[Ziaholic]

Originally Posted by Joe Ross

As a side note, unless you modify Robot Main.vi, it doesn't matter if it starts in Auto Disabled or Telop Disabled, as they both call Disabled.vi.

Exactly. ... I assumed that Alan's concerns were because his team may not be using Labview, and then that double-state (either/or) case structure wouldn't apply to him. I have zero insight into the C++ or Java frameworks, so I don't know if they provide that "either-or" case like we have in LV.