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)