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Signed-off-by: Jade Turner <[email protected]>

Author: spacey-sooty

docs/source/docs/contributing/design-descriptions/tag-limiting.md

@@ -18,3 +18,4 @@ Accessing rejected tag info is still important, as tags can serve other informat
 In order to be able to use Photon standalone without any robot code we must be able to change the tags to reject on the coprocessor. This unfortunately doesn't scale well with more complex robot code usecases, for example rejecting tags based on current scoring location or alliance, making it beneficial to be able to set the tags to reject from robot code as well. This raises a couple of questions:
 - How do we keep the coprocessor and robot code in sync?
 - What do we do if the robot code and coprocessor have conflicting values?
+The core of our approach to this will be always treating the robot code as a source of truth. If the robot code is publishing values for this then you won't be able to modify the values in the UI. Publishing from the UI will still be enabled when the robot code isn't publishing, but if you've set a value in the user code it will always override the value set on the coprocessor. If the value is ever overriden an Alert will be published. Furthermore if the robot code stops publishing it will return to the value set on the coprocessor.