text: from enum import Enum, auto
  from commands2 import SubsystemBase
  from wpilib import SmartDashboard
  from ctre import ControlMode, LimitSwitchNormal, LimitSwitchSource
  from util.ctrecheck import ctreCheckError
  from util.simfalcon import createMotor
  import constants
  
  
  class IndexerSubsystem(SubsystemBase):
      class Mode(Enum):
          Holding = auto()
          FeedForward = auto()
          Reversed = auto()
          Off = auto()
  
      def __init__(self) -> None:
          SubsystemBase.__init__(self)
          self.setName(__class__.__name__)
          self.indexerMotor = createMotor(
              constants.kIndexerMotorId,
          )
          # INDEXER
          print(f"Initializing Falcon: {constants.kIndexerMotorName}")
          if not ctreCheckError(
              "configFactoryDefault",
              self.indexerMotor.configFactoryDefault(
                  constants.kConfigurationTimeoutLimit
              ),
          ):
              return
          if not ctreCheckError(
              "config_kP",
              self.indexerMotor.config_kP(
                  constants.kIndexerMotorPIDSlot,
                  constants.kIndexerMotorPGain,
                  constants.kConfigurationTimeoutLimit,
              ),
          ):
              return
          if not ctreCheckError(
              "config_kI",
              self.indexerMotor.config_kI(
                  constants.kIndexerMotorPIDSlot,
                  constants.kIndexerMotorIGain,
                  constants.kConfigurationTimeoutLimit,
              ),
          ):
              return
          if not ctreCheckError(
              "config_kD",
              self.indexerMotor.config_kD(
                  constants.kIndexerMotorPIDSlot,
                  constants.kIndexerMotorDGain,
                  constants.kConfigurationTimeoutLimit,
              ),
          ):
              return
          print(f"{constants.kIndexerMotorName} Falcon Initialization Complete")
  
          # STAGING
          self.stagingMotor = createMotor(
              constants.kStagingMotorId,
          )
          print(f"Initializing Falcon: {constants.kStagingMotorName}")
          if not ctreCheckError(
              "configFactoryDefault",
              self.stagingMotor.configFactoryDefault(
                  constants.kConfigurationTimeoutLimit
              ),
          ):
              return
          if not ctreCheckError(
              "config_kP",
              self.stagingMotor.config_kP(
                  constants.kStagingMotorPIDSlot,
                  constants.kStagingMotorPGain,
                  constants.kConfigurationTimeoutLimit,
              ),
          ):
              return
          if not ctreCheckError(
              "config_kI",
              self.stagingMotor.config_kI(
                  constants.kStagingMotorPIDSlot,
                  constants.kStagingMotorIGain,
                  constants.kConfigurationTimeoutLimit,
              ),
          ):
              return
          if not ctreCheckError(
              "config_kD",
              self.stagingMotor.config_kD(
                  constants.kStagingMotorPIDSlot,
                  constants.kStagingMotorDGain,
                  constants.kConfigurationTimeoutLimit,
              ),
          ):
              return
          if not ctreCheckError(
              "configForwardLimitSwitchSource",
              self.stagingMotor.configForwardLimitSwitchSource(
                  LimitSwitchSource.Deactivated,
                  LimitSwitchNormal.Disabled,
                  constants.kConfigurationTimeoutLimit,
              ),
          ):
              return
          if not ctreCheckError(
              "configReverseLimitSwitchSource",
              self.stagingMotor.configReverseLimitSwitchSource(
                  LimitSwitchSource.Deactivated,
                  LimitSwitchNormal.Disabled,
                  constants.kConfigurationTimeoutLimit,
              ),
          ):
              return
          print(f"{constants.kStagingMotorName} Falcon Initialization Complete")
  
          self.indexerSensor = self.stagingMotor.isRevLimitSwitchClosed
          self.stagingSensor = self.stagingMotor.isFwdLimitSwitchClosed
          self.state = self.Mode.Holding
  
      def periodic(self) -> None:
          SmartDashboard.putBoolean(constants.kReadyToFireKey, self.stagingSensor() == 0)
          SmartDashboard.putBoolean(
              constants.kDualBallKey,
              self.indexerSensor() == 0 and self.stagingSensor() == 0,
          )
          if self.state == self.Mode.FeedForward:
              self.indexerMotor.set(
                  ControlMode.Velocity,
                  constants.kIndexerSpeed
                  * constants.kIndexerGearRatio
                  * constants.kTalonVelocityPerRPM,
              )
              self.stagingMotor.set(
                  ControlMode.Velocity,
                  constants.kStagingSpeed
                  * constants.kStagingGearRatio
                  * constants.kTalonVelocityPerRPM,
              )
          elif self.state == self.Mode.Holding:
              if not (self.indexerSensor() == 0 and self.stagingSensor() == 0):
                  self.indexerMotor.set(
                      ControlMode.Velocity,
                      constants.kIndexerSpeed
                      * constants.kIndexerGearRatio
                      * constants.kTalonVelocityPerRPM,
                  )
                  self.stagingMotor.set(
                      ControlMode.Velocity,
                      -constants.kStagingSpeed
                      * constants.kStagingGearRatio
                      * constants.kTalonVelocityPerRPM,
                  )
              else:
                  self.indexerMotor.set(ControlMode.Velocity, 0)
                  self.stagingMotor.set(ControlMode.Velocity, 0)
          elif self.state == self.Mode.Reversed:
              self.indexerMotor.set(
                  ControlMode.Velocity,
                  -constants.kIndexerSpeed
                  * constants.kIndexerGearRatio
                  * constants.kTalonVelocityPerRPM,
              )
              self.stagingMotor.set(
                  ControlMode.Velocity,
                  -constants.kStagingSpeed
                  * constants.kStagingGearRatio
                  * constants.kTalonVelocityPerRPM,
              )
          elif self.state == self.Mode.Off:
              self.indexerMotor.neutralOutput()
              self.stagingMotor.neutralOutput()
  
      # Switches direction to reverse the ball path
      def motorsOff(self) -> None:
          self.state = self.Mode.Off
  
      def feedBallForward(self) -> None:
          self.state = self.Mode.FeedForward
  
      def holdBall(self) -> None:
          self.state = self.Mode.Holding
  
      def reversePath(self) -> None:
          self.state = self.Mode.Reversed
  