magicbot: Grab entry setters in collect_feedbacks

Author: auscompgeek

magicbot/magic_tunable.py

@@ -225,7 +225,7 @@ class MyRobot(magicbot.MagicRobot):
 def collect_feedbacks(component, cname: str, prefix: Optional[str] = "components"):
     """
     Finds all methods decorated with :func:`feedback` on an object
-    and returns a list of 2-tuples (method, NetworkTables entry).
+    and returns a list of 2-tuples (method, NetworkTables entry setter).
 
     .. note:: This isn't useful for normal use.
     """
@@ -247,6 +247,7 @@ def collect_feedbacks(component, cname: str, prefix: Optional[str] = "components
                     key = name
 
             entry = nt.getEntry(key)
-            feedbacks.append((method, entry))
+            setter = entry.setValue
+            feedbacks.append((method, setter))
 
     return feedbacks

magicbot/magicrobot.py

@@ -10,7 +10,7 @@
 import hal
 import wpilib
 
-from ntcore import NetworkTableInstance, NetworkTableEntry
+from ntcore import NetworkTableInstance
 
 # from wpilib.shuffleboard import Shuffleboard
 
@@ -73,7 +73,7 @@ def __init__(self) -> None:
         self.__last_error_report = -10
 
         self._components: List[Tuple[str, Any]] = []
-        self._feedbacks: List[Tuple[Callable[[], Any], NetworkTableEntry]] = []
+        self._feedbacks: List[Tuple[Callable[[], Any], Callable[[Any], Any]]] = []
         self._reset_components: List[Tuple[Dict[str, Any], Any]] = []
 
         self.__done = False
@@ -720,13 +720,13 @@ def _do_periodics(self) -> None:
         """Run periodic methods which run in every mode."""
         watchdog = self.watchdog
 
-        for method, entry in self._feedbacks:
+        for method, setter in self._feedbacks:
             try:
                 value = method()
             except:
                 self.onException()
             else:
-                entry.setValue(value)
+                setter(value)
 
         watchdog.addEpoch("@magicbot.feedback")