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add on enable and on disable to test #217

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Merged
merged 2 commits into from
May 3, 2025
Merged

add on enable and on disable to test #217

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2c59aff
add on enable and on disable to test
LucienMorey Apr 28, 2025
0e6cc38
stop double calling on_disable callbacks
LucienMorey Apr 28, 2025
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4 changes: 2 additions & 2 deletions magicbot/magiccomponent.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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.

Expand All @@ -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 enters disabled mode.
"""

def execute(self) -> None:
Expand Down
7 changes: 3 additions & 4 deletions magicbot/magicrobot.py
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Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -526,6 +522,9 @@ def _test(self) -> None:
wpilib.LiveWindow.setEnabled(True)
# Shuffleboard.enableActuatorWidgets()

# initialize things
self._on_mode_enable_components()

try:
self.testInit()
except:
Expand Down