Merge pull request #217 from LucienMorey/enable_disable_in_test

add on enable and on disable to test

Author: auscompgeek

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 enters disabled mode.
         """
 
     def execute(self) -> None:

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
@@ -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: