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

[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