Source code for robot

-import wpilib
+"""
+The entry point for all robot code.
+"""
+
+
+import wpilib
 import constants
 import swerve
 import teleop
@@ -49,6 +54,13 @@ 
Source code for robot
 
 
[docs]class Robot(wpilib.IterativeRobot):
 
[docs]    def robotInit(self):
+        """
+        Perform initialization on robot startup.
+
+        This function is called when the robot code starts after being powered
+        on; at this point everything within WPILib / NetworkTables / etc.
+        has been initialized.
+        """
         constants.load_control_config()
 
         self.autoPositionSelect = wpilib.SendableChooser()
@@ -68,26 +80,69 @@ 
Source code for robot
         )

 
 
[docs]    def disabledInit(self):
+        """
+        Called once whenever the robot is disabled.
+
+        This can't, and probably shouldn't, do much. It could be helpful to
+        reload robot configuration values here (from Preferences, for instance)
+        for testing purposes.
+        """
         # We don't really _need_ to reload configuration in
         # every init call-- it's just useful for debugging.
         # (no need to restart robot code just to load new values)
         self.drivetrain.load_config_values()

 
 
[docs]    def disabledPeriodic(self):
+        """
+        Called periodically whenever the robot is disabled.
+
+        To be specific, this function is called whenever a new packet has been
+        received from the Driver Station.
+
+        This probably shouldn't do much other than update SmartDashboard.
+        """
         pass

 
 
[docs]    def autonomousInit(self):
+        """
+        Called once when entering Autonomous mode.
+        """
         self.drivetrain.load_config_values()
         self.auto = Autonomous(self.autoPositionSelect.getSelected())

 
 
[docs]    def autonomousPeriodic(self):
+        """
+        Called periodically when in Autonomous mode.
+
+        To be specific, this function is called whenever a new packet has been
+        received from the Driver Station.
+
+        Warning:
+            This function **must not** block the robot program for more than
+            a few milliseconds at a time. Blocking will cause all sorts of
+            problems with the robot and may leave it unresponsive.
+        """
         pass

 
 
[docs]    def teleopInit(self):
+        """
+        Called once when entering Teleop mode.
+        """
         self.drivetrain.load_config_values()
         constants.load_control_config()

 
 
[docs]    def teleopPeriodic(self):
+        """
+        Called periodically when in Teleop mode.
+
+        To be specific, this function is called whenever a new packet has been
+        received from the Driver Station.
+
+        Warning:
+            This function **must not** block the robot program for more than
+            a few milliseconds at a time. Blocking will cause all sorts of
+            problems with the robot and may leave it unresponsive.
+        """
         # For now: basic driving
         teleop.drive(self.control_stick, self.drivetrain)
         self.drivetrain.update_smart_dashboard()

@@ -102,6 +157,9 @@ 
Source code for robot