So, whilst waiting for an official reply, I thought I would send this question out for you regular competition goers and those who have already seen bloody in a full blown vex tournament (In the UK we didn’t have an autonomous mode, so we’re only looking into it now in prep for Dallas)
What I can’t work out from the documentation is if the User mC remains active after the end of autonomous mode in order to allow some vestige of interpolated control. IE: To have a proper holonomic drive would require run-time code to mix the motors to give expected drive behaviour. Is this allowed in the user mC or does any user code get stopped by the master mC when running in competition code?
I think I understood your question right…
You are allowed to have code running while you are in the user controlled period. After all, code is used to assign the values of the various channels on the remote to motors. Almost all holonomic drives need to have code that takes the remote channel values and determines how much current should be given to each motor. Some teams have vary elaborate codes such as 254A which has over 100 lines of code not including their autonomous code.
As I am not that familiar with coding for VEX, I don’t know if it is possible to have a function that you can call from both the autonomous and teleoperated sections of your code so that you don’t need to have redundant code. I.e. a function that moves your robot at a certain vector.