I’ve tried to do this before here . The brakemode of pros just doesnt work. See my holding example. Also, the autonomous, opcontrol, disabled and competition-initialize functions is called with a competition switch. the initialize function will be called first no matter what and op control will be next. Note that initialize and opcontrol will be called even without a competition switch. You can also test out only your autonomous function but not the disabled and competition-initialize by pressing your program->competition->Programming skills or ur program->timed run. Timed run will run 15 sec of auton and 1:45 of opcontrol like a real competition. Next, ur 3rd question, i do not recommend making the robot drive “straight” or tweaking the speed during opcontrol. This will make the control very limited (maybe he wants to curve a bit but the program limits him). However, you can make some buttons dedicated for strait forward movement and straight backwards movement (but i dont really use them in competition cause the reason to put a driver there in the opcontrol peirod is because they can adjust to make the robot go strait again). For how to make the robot go straight in autonomous and opcontrol, see this.
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