Add robotPeriodic and fix feedback in auto

Author: ArchdukeTim

magicbot/magicrobot.py

@@ -209,6 +209,19 @@ def disabledPeriodic(self):
             self.logger.warning("Default MagicRobot.disabledPeriodic() method... Overload me!")
             func.firstRun = False
 
+    def robotPeriodic(self):
+        """
+            Periodic code for all modes should go here.
+
+`           Users must override this method to utilize it
+            but it is not required.
+
+            This function gets called last in each mode.
+            You may use it for any code you need to run
+            during all modes of the robot (e.g NetworkTables updates)
+        """
+        pass
+
     def onException(self, forceReport=False):
         '''
             This function must *only* be called when an unexpected exception
@@ -304,10 +317,9 @@ def autonomous(self):
         self._on_mode_enable_components()
 
         self._automodes.run(self.control_loop_wait_time,
-                            self._execute_components,
+                            (self._execute_components, self._update_feedback, self.robotPeriodic),
                             self.onException)
 
-        self._update_feedback()
         self._on_mode_disable_components()
 
 
@@ -343,6 +355,7 @@ def disabled(self):
                 self.onException()
 
             self._update_feedback()
+            self.robotPeriodic()
             delay.wait()
 
     def operatorControl(self):
@@ -380,6 +393,7 @@ def operatorControl(self):
 
             self._execute_components()
             self._update_feedback()
+            self.robotPeriodic()
 
             delay.wait()
 

robotpy_ext/autonomous/selector.py

@@ -1,5 +1,6 @@
 
 from glob import glob
+from collections import Iterable
 import importlib
 import inspect
 import os
@@ -196,8 +197,8 @@ def run(self, control_loop_wait_time=0.020, iter_fn=None, on_exception=None):
             
             This function will NOT exit until autonomous mode has ended. If
             you need to execute code in all autonomous modes, pass a function
-            as the ``iter_fn`` parameter, and it will be called once per
-            autonomous mode iteration.
+            or list of functions as the ``iter_fn`` parameter, and they will be
+            called once per autonomous mode iteration.
                           
             :param control_loop_wait_time: Amount of time between iterations
             :param iter_fn: Called at the end of every iteration while
@@ -236,7 +237,11 @@ def run(self, control_loop_wait_time=0.020, iter_fn=None, on_exception=None):
             except:
                 on_exception()
 
-            iter_fn()
+            if isinstance(iter_fn, Iterable):
+                for fn in iter_fn:
+                    fn()
+            else:
+                iter_fn()
 
             delay.wait()