def robotInit(self):
"""
This function is called upon program startup and
should be used for any initialization code.
"""
self.running = {}
self.omni_driving = True
self.omni_drive = omni_drive
self.drive_motors = DriveMotors(self)
self.oi = OI(self)
self.chassis = Chassis(self)
self.auto_tasks = move_forward_auto # [[list, of, tasks, to_go, through, sequentially], [and, this, list, will, run, in, parallel]
self.current_auto_tasks = []
self.vision_array = Array("d", [0.0, 0.0, 0.0, 0.0])
self.vision_terminate_event = Event()
self.vision = Vision(self.vision_array, self.vision_terminate_event)
