Is there any way to make a controller which can enable and disable the autonomous mode?
Yes. See the file “HowToRunAutonomousMode.pdf” in the zip file our Downloads page called “Competition / Autonomous Mode”.
Using the two motor set up,“tank mode” can I use the autonomous collision mode? Do I have to be in the 4 wheel drive configuration to use autonomous mode?
**If you are in autonomous mode (jumper installed in Analog/Digital 13 -using MPLAB), then you can be in tank mode with motors on Port 2 and Port 3. An activated bumper switch into Analog/Digital 11 will reverse the Port 2 motor and halt the Port 3 motor. Similarly, an activated bumper switch into Analog/Digital 12 will halt the Port 2 motor and reverse Port 3.
If you want four motor tank drive while in autonomous, Ports 2 and 7 respond the same. Also, ports 3 and 8 respond the same.**