From 2c59aff3db18180277fe0ec1577c5a1b01232ca1 Mon Sep 17 00:00:00 2001
From: Lucien Morey <lucien@thedropbears.org.au>
Date: Mon, 28 Apr 2025 22:16:01 +1000
Subject: [PATCH 1/2] add on enable and on disable to test

---
 magicbot/magiccomponent.py | 4 ++--
 magicbot/magicrobot.py     | 5 +++++
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/magicbot/magiccomponent.py b/magicbot/magiccomponent.py
index 8f6b958..d5915d8 100644
--- a/magicbot/magiccomponent.py
+++ b/magicbot/magiccomponent.py
@@ -49,7 +49,7 @@ def setup(self) -> None:
 
     def on_enable(self) -> None:
         """
-        Called when the robot enters autonomous or teleoperated mode. This
+        Called when the robot enters autonomous, teleoperated or test mode mode. This
         function should initialize your component to a "safe" state so
         that unexpected things don't happen when enabling the robot.
 
@@ -60,7 +60,7 @@ def on_enable(self) -> None:
 
     def on_disable(self) -> None:
         """
-        Called when the robot leaves autonomous or teleoperated
+        Called when the robot leaves autonomous, teleoperated or test mode
         """
 
     def execute(self) -> None:
diff --git a/magicbot/magicrobot.py b/magicbot/magicrobot.py
index 85d1dd7..fcce4cb 100644
--- a/magicbot/magicrobot.py
+++ b/magicbot/magicrobot.py
@@ -526,6 +526,9 @@ def _test(self) -> None:
         wpilib.LiveWindow.setEnabled(True)
         # Shuffleboard.enableActuatorWidgets()
 
+        # initialize things
+        self._on_mode_enable_components()
+
         try:
             self.testInit()
         except:
@@ -559,6 +562,8 @@ def _test(self) -> None:
         wpilib.LiveWindow.setEnabled(False)
         # Shuffleboard.disableActuatorWidgets()
 
+        self._on_mode_disable_components()
+
     def _on_mode_enable_components(self) -> None:
         # initialize things
         for _, component in self._components:

From 0e6cc3806ca19956c504214a8bd7e14b238b92b3 Mon Sep 17 00:00:00 2001
From: Lucien Morey <lucien@thedropbears.org.au>
Date: Mon, 28 Apr 2025 22:20:44 +1000
Subject: [PATCH 2/2] stop double calling on_disable callbacks

---
 magicbot/magiccomponent.py | 2 +-
 magicbot/magicrobot.py     | 6 ------
 2 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/magicbot/magiccomponent.py b/magicbot/magiccomponent.py
index d5915d8..35bbdef 100644
--- a/magicbot/magiccomponent.py
+++ b/magicbot/magiccomponent.py
@@ -60,7 +60,7 @@ def on_enable(self) -> None:
 
     def on_disable(self) -> None:
         """
-        Called when the robot leaves autonomous, teleoperated or test mode
+        Called when the robot enters disabled mode.
         """
 
     def execute(self) -> None:
diff --git a/magicbot/magicrobot.py b/magicbot/magicrobot.py
index fcce4cb..9db0ea8 100644
--- a/magicbot/magicrobot.py
+++ b/magicbot/magicrobot.py
@@ -413,8 +413,6 @@ def autonomous(self) -> None:
             watchdog=self.watchdog,
         )
 
-        self._on_mode_disable_components()
-
     def _disabled(self) -> None:
         """
         This function is called in disabled mode. You should not
@@ -513,8 +511,6 @@ def _operatorControl(self) -> None:
                 delay.wait()
                 watchdog.reset()
 
-        self._on_mode_disable_components()
-
     def _test(self) -> None:
         """Called when the robot is in test mode"""
         watchdog = self.watchdog
@@ -562,8 +558,6 @@ def _test(self) -> None:
         wpilib.LiveWindow.setEnabled(False)
         # Shuffleboard.disableActuatorWidgets()
 
-        self._on_mode_disable_components()
-
     def _on_mode_enable_components(self) -> None:
         # initialize things
         for _, component in self._components: