How to use the wpilib.CANTalon function in wpilib

def createObjects(self):
        # #INITIALIZE JOYSTICKS##
        self.joystick1 = wpilib.Joystick(0)
        self.joystick2 = wpilib.Joystick(1)


        # #INITIALIZE MOTORS##
        self.lf_motor = wpilib.CANTalon(5)
        self.lr_motor = wpilib.CANTalon(10)
        self.rf_motor = wpilib.CANTalon(15)
        self.rr_motor = wpilib.CANTalon(20)        
        
        self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
        
        self.leftArm = wpilib.CANTalon(25)
        self.rightArm = wpilib.CANTalon(30)
        
        self.leftBall = wpilib.Talon(9)
        
        self.winchMotor = wpilib.Talon(0)
        self.kickMotor = wpilib.Talon(1)
        ##DRIVE ENCODERS##
        self.rf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontRightMotor, True)
        self.lf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontLeftMotor)
        ##NavX##
        self.navX = navx.AHRS.create_spi()

def createObjects(self):
        # #INITIALIZE JOYSTICKS##
        self.joystick1 = wpilib.Joystick(0)
        self.joystick2 = wpilib.Joystick(1)


        # #INITIALIZE MOTORS##
        self.lf_motor = wpilib.CANTalon(5)
        self.lr_motor = wpilib.CANTalon(10)
        self.rf_motor = wpilib.CANTalon(15)
        self.rr_motor = wpilib.CANTalon(20)        
        
        self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
        
        self.leftArm = wpilib.CANTalon(25)
        self.rightArm = wpilib.CANTalon(30)
        
        self.leftBall = wpilib.Talon(9)
        
        self.winchMotor = wpilib.Talon(0)
        self.kickMotor = wpilib.Talon(1)
        ##DRIVE ENCODERS##
        self.rf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontRightMotor, True)
        self.lf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontLeftMotor)
        ##NavX##
        self.navX = navx.AHRS.create_spi()

        ##SMART DASHBOARD##
        self.sd = NetworkTable.getTable('SmartDashboard')

        ##AUTO FUNCTIONALITY##
        self.auto_portcullis = portcullis.PortcullisLift(self.sd, self.drive, self.intake)

# #INITIALIZE JOYSTICKS##
        self.joystick1 = wpilib.Joystick(0)
        self.joystick2 = wpilib.Joystick(1)
        

        # #INITIALIZE MOTORS##
        self.lf_motor = wpilib.CANTalon(5)
        self.lr_motor = wpilib.CANTalon(10)
        self.rf_motor = wpilib.CANTalon(15)
        self.rr_motor = wpilib.CANTalon(20)   
        
        self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
        
        self.leftArm = wpilib.CANTalon(25)
        self.rightArm = wpilib.CANTalon(30)
        
        self.leftBall = wpilib.Talon(9)
        
        self.winchMotor = wpilib.Talon(0)
        self.kickMotor = wpilib.Talon(1)
        
        self.flashlight = wpilib.Relay(0)
        self.lightTimer = wpilib.Timer()
        self.turningOffState = 0
        self.lastState = False
        
                
        ##DRIVE ENCODERS##
        self.rf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontRightMotor, True)
        self.lf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontLeftMotor)

def createObjects(self):
        # #INITIALIZE JOYSTICKS##
        self.joystick1 = wpilib.Joystick(0)
        self.joystick2 = wpilib.Joystick(1)


        # #INITIALIZE MOTORS##
        self.lf_motor = wpilib.CANTalon(5)
        self.lr_motor = wpilib.CANTalon(10)
        self.rf_motor = wpilib.CANTalon(15)
        self.rr_motor = wpilib.CANTalon(20)        
        
        self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
        
        self.leftArm = wpilib.CANTalon(25)
        self.rightArm = wpilib.CANTalon(30)
        
        self.leftBall = wpilib.Talon(9)
        
        self.winchMotor = wpilib.Talon(0)
        self.kickMotor = wpilib.Talon(1)
        ##DRIVE ENCODERS##
        self.rf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontRightMotor, True)
        self.lf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontLeftMotor)
        ##NavX##
        self.navX = navx.AHRS.create_spi()

        ##SMART DASHBOARD##
        self.sd = NetworkTable.getTable('SmartDashboard')

        ##AUTO FUNCTIONALITY##

posVal = int(tm_diff*1023) # Encoder Position difference when in Position mode based on time
            armDict['limit_switch_closed_for'] = True
            armDict['limit_switch_closed_rev'] = True
            
            lWheelPercentVal = int(lfDict['value']*tm_diff*10)
            rWheelPercentVal = int(rfDict['value']*tm_diff*10)
    
        except:
            pass
        
        else:
            
            if armDict['mode_select'] == wpilib.CANTalon.ControlMode.PercentVbus: # If manual operation
                self.armAct += armPercentVal # Add the calculated encoder change value to the 'actual value'
                armDict['enc_position'] += armPercentVal # Add the calculated encoder change value to the recorded encoder value
            elif armDict['mode_select'] == wpilib.CANTalon.ControlMode.Position: #If in auto mode
                #err = armDict['value'] - armDict['enc_position']
                #self.iErr +=err*tm_diff
                #self.iErr = max(min(self.iErr, 300), -300)
                #output = (armDict['params'][1]*err)+(armDict['params'][2]*self.iErr)*250/(1023)
                #if abs(output) < 300:
                #    output = 0
                if armDict['enc_position'] < armDict['value']: #If the current position is less than the target position
                    armDict['enc_position'] += posVal # Add calculated encoder value to recorded value
                    self.armAct += posVal
                else: # If the current position is more than the target position
                    armDict['enc_position'] -= posVal # Subtract calculated encoder position
                    self.armAct -=posVal
                #output*=tm_diff
                #armDict['enc_position'] += output
                #armDict['enc_position'] = int(armDict['enc_position'])
                #self.armAct += output

import wpilib
from networktables.networktable import NetworkTable
import logging
logger = logging.getLogger('arm')

forward = 1
reverse = -1
off = 0


class ArmMode:
    MANUAL = 1
    AUTO = 2

class Arm:
    leftArm = wpilib.CANTalon
    rightArm = wpilib.CANTalon
    leftBall = wpilib.Talon

    def __init__(self):
        self.isCalibrating = False
        self.isCalibrated = False

        self.sd = NetworkTable.getTable('SmartDashboard')

        self.positions = [
            self.sd.getAutoUpdateValue('Arm/Bottom', 3600),
            self.sd.getAutoUpdateValue('Arm/Middle', 2635),
            self.sd.getAutoUpdateValue('Arm/Top', -20),
        ]
        self.position_threshold = self.sd.getAutoUpdateValue('Arm/On Target Threshold', 25)
        self.wanted_pid = (

def createObjects(self):
        
        # #INITIALIZE JOYSTICKS##
        self.joystick1 = wpilib.Joystick(0)
        self.joystick2 = wpilib.Joystick(1)
        

        # #INITIALIZE MOTORS##
        self.lf_motor = wpilib.CANTalon(5)
        self.lr_motor = wpilib.CANTalon(10)
        self.rf_motor = wpilib.CANTalon(15)
        self.rr_motor = wpilib.CANTalon(20)   
        
        self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
        
        self.leftArm = wpilib.CANTalon(25)
        self.rightArm = wpilib.CANTalon(30)
        
        self.leftBall = wpilib.Talon(9)
        
        self.winchMotor = wpilib.Talon(0)
        self.kickMotor = wpilib.Talon(1)
        
        self.flashlight = wpilib.Relay(0)
        self.lightTimer = wpilib.Timer()
        self.turningOffState = 0

def createObjects(self):
        # #INITIALIZE JOYSTICKS##
        self.joystick1 = wpilib.Joystick(0)
        self.joystick2 = wpilib.Joystick(1)


        # #INITIALIZE MOTORS##
        self.lf_motor = wpilib.CANTalon(5)
        self.lr_motor = wpilib.CANTalon(10)
        self.rf_motor = wpilib.CANTalon(15)
        self.rr_motor = wpilib.CANTalon(20)        
        
        self.robot_drive = wpilib.RobotDrive(self.lf_motor, self.lr_motor, self.rf_motor, self.rr_motor)
        
        self.leftArm = wpilib.CANTalon(25)
        self.rightArm = wpilib.CANTalon(30)
        
        self.leftBall = wpilib.Talon(9)
        
        self.winchMotor = wpilib.Talon(0)
        self.kickMotor = wpilib.Talon(1)
        ##DRIVE ENCODERS##
        self.rf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontRightMotor, True)
        self.lf_encoder = driveEncoders.DriveEncoders(self.robot_drive.frontLeftMotor)

rfDict = hal_data['CAN'][15]
            
            armPercentVal = int(armDict['value']*tm_diff*2) # Encoder position increaser when in PercentVbus mode based on time and thrust value
            posVal = int(tm_diff*1023) # Encoder Position difference when in Position mode based on time
            armDict['limit_switch_closed_for'] = True
            armDict['limit_switch_closed_rev'] = True
            
            lWheelPercentVal = int(lfDict['value']*tm_diff*10)
            rWheelPercentVal = int(rfDict['value']*tm_diff*10)
    
        except:
            pass
        
        else:
            
            if armDict['mode_select'] == wpilib.CANTalon.ControlMode.PercentVbus: # If manual operation
                self.armAct += armPercentVal # Add the calculated encoder change value to the 'actual value'
                armDict['enc_position'] += armPercentVal # Add the calculated encoder change value to the recorded encoder value
            elif armDict['mode_select'] == wpilib.CANTalon.ControlMode.Position: #If in auto mode
                #err = armDict['value'] - armDict['enc_position']
                #self.iErr +=err*tm_diff
                #self.iErr = max(min(self.iErr, 300), -300)
                #output = (armDict['params'][1]*err)+(armDict['params'][2]*self.iErr)*250/(1023)
                #if abs(output) < 300:
                #    output = 0
                if armDict['enc_position'] < armDict['value']: #If the current position is less than the target position
                    armDict['enc_position'] += posVal # Add calculated encoder value to recorded value
                    self.armAct += posVal
                else: # If the current position is more than the target position
                    armDict['enc_position'] -= posVal # Subtract calculated encoder position
                    self.armAct -=posVal
                #output*=tm_diff

self.manual_value = 0

        self.want_auto = False

        self.mode = ArmMode.MANUAL
        self.last_mode = ArmMode.MANUAL

        #self.manual_value = -.25
        self.manual_value = 0
        # These need to be set by subclasses

        self.current_pid = (0, 0, 0)
        self.new_pid = None

        self.leftArm.changeControlMode(wpilib.CANTalon.ControlMode.PercentVbus)
        self.rightArm.changeControlMode(wpilib.CANTalon.ControlMode.Follower)
        self.rightArm.reverseOutput(True)

        self.leftBallSpeed = 0