Our team is trying to figure out the best way to manage multiple autonomous programs (at a minimum, 2 versions - 15 sec and 60 sec). We tried to keep them all in one program (different routines in like auto1(), auto2(), etc.)
Another team posted their approach. They coded these different versions of autonomous routines (functions) and has some case-switching code (depending for some controller values) in initialize() function. They will use controller to select which one to run and here is their steps:
- Robot is off. walk it over to the field.
- Turn Brain on (select the program to run).
- Use controller to cycle to correct autonomous program
- plug into field control
- Robot runs autonomous that was selected
Their steps depends on the fact that V5 brain doesn’t need to be power cycled before/after plug into field controller.
However, according to this guide -
The V5 brain and controller needs to be off before controller can be plugged into field controller. So how does this work?