How to use the wpilib.LiveWindow function in wpilib

def __init__(self, robot):

        self.robot = robot

        # Configure drive motors
        self.frontLeftCIM = wpilib.Victor(1)
        self.frontRightCIM = wpilib.Victor(2)
        self.backLeftCIM = wpilib.Victor(3)
        self.backRightCIM = wpilib.Victor(4)
        wpilib.LiveWindow.addActuator("DriveTrain", "Front Left CIM", self.frontLeftCIM)
        wpilib.LiveWindow.addActuator("DriveTrain", "Front Right CIM", self.frontRightCIM)
        wpilib.LiveWindow.addActuator("DriveTrain", "Back Left CIM", self.backLeftCIM)
        wpilib.LiveWindow.addActuator("DriveTrain", "Back Right CIM", self.backRightCIM)

        # Configure the RobotDrive to reflect the fact that all our motors are
        # wired backwards and our drivers sensitivity preferences.
        self.drive = wpilib.RobotDrive(self.frontLeftCIM, self.frontRightCIM, self.backLeftCIM, self.backRightCIM)
        self.drive.setSafetyEnabled(True)
        self.drive.setExpiration(.1)
        self.drive.setSensitivity(.5)
        self.drive.setMaxOutput(1.0)
        self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kFrontLeft, True)
        self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kFrontRight, True)
        self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearLeft, True)
        self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearRight, True)

def __init__(self):
        super().__init__()
        
        self.motor = wpilib.Victor(7)
        self.contact = wpilib.DigitalInput(5)
        
        # Let's show everything on the LiveWindow
        wpilib.LiveWindow.addActuator("Claw", "Motor", self.motor)
        wpilib.LiveWindow.addActuator("Claw", "Limit Switch", self.contact)

def __init__(self, robot):
        super().__init__()
        self.robot = robot

        # Configure Devices
        self.hotGoalSensor = wpilib.DigitalInput(8)
        self.piston1 = wpilib.DoubleSolenoid(0, 3, 4)
        self.piston2 = wpilib.DoubleSolenoid(0, 5, 6)
        self.latchPiston = wpilib.Solenoid(0, 2)
        self.piston1ReedSwitchFront = wpilib.DigitalInput(9)
        self.piston1ReedSwitchBack = wpilib.DigitalInput(11)

        # Put everything to the LiveWindow for testing.
        wpilib.LiveWindow.addSensor("Shooter", "Hot Goal Sensor",
                                    self.hotGoalSensor)
        wpilib.LiveWindow.addSensor("Shooter", "Piston1 Reed Switch Front",
                                    self.piston1ReedSwitchFront)
        wpilib.LiveWindow.addSensor("Shooter", "Piston1 Reed Switch Back",
                                    self.piston1ReedSwitchBack)
        wpilib.LiveWindow.addActuator("Shooter", "Latch Piston",
                                      self.latchPiston)

def testPeriodic(self):
        """This function is called periodically during test mode."""
        wpilib.LiveWindow.run()

def testPeriodic(self):
        """This function is called periodically during test mode."""
        wpilib.LiveWindow.run()

def __init__(self, robot):
        # Configure devices
        self.rollerMotor = wpilib.Victor(6)
        self.ballDetector = wpilib.DigitalInput(10)
        self.openDetector = wpilib.DigitalInput(6)
        self.piston = wpilib.Solenoid(0, 1)
        self.robot = robot

        # Put everything to the LiveWindow for testing.
        wpilib.LiveWindow.addActuator("Collector", "Roller Motor", self.rollerMotor)
        wpilib.LiveWindow.addSensor("Collector", "Ball Detector", self.ballDetector)
        wpilib.LiveWindow.addSensor("Collector", "Claw Open Detector", self.openDetector)
        wpilib.LiveWindow.addActuator("Collector", "Piston", self.piston)

        super().__init__()

self.robot = robot

        # Configure Devices
        self.hotGoalSensor = wpilib.DigitalInput(8)
        self.piston1 = wpilib.DoubleSolenoid(0, 3, 4)
        self.piston2 = wpilib.DoubleSolenoid(0, 5, 6)
        self.latchPiston = wpilib.Solenoid(0, 2)
        self.piston1ReedSwitchFront = wpilib.DigitalInput(9)
        self.piston1ReedSwitchBack = wpilib.DigitalInput(11)

        # Put everything to the LiveWindow for testing.
        wpilib.LiveWindow.addSensor("Shooter", "Hot Goal Sensor",
                                    self.hotGoalSensor)
        wpilib.LiveWindow.addSensor("Shooter", "Piston1 Reed Switch Front",
                                    self.piston1ReedSwitchFront)
        wpilib.LiveWindow.addSensor("Shooter", "Piston1 Reed Switch Back",
                                    self.piston1ReedSwitchBack)
        wpilib.LiveWindow.addActuator("Shooter", "Latch Piston",
                                      self.latchPiston)

self.ahrs = AHRS.create_spi()
        #self.ahrs = AHRS.create_i2c()
        
        turnController = wpilib.PIDController(self.kP, self.kI, self.kD, self.kF, self.ahrs, output=self)
        turnController.setInputRange(-180.0,  180.0)
        turnController.setOutputRange(-1.0, 1.0)
        turnController.setAbsoluteTolerance(self.kToleranceDegrees)
        turnController.setContinuous(True)
        
        self.turnController = turnController
        
        # Add the PID Controller to the Test-mode dashboard, allowing manual  */
        # tuning of the Turn Controller's P, I and D coefficients.            */
        # Typically, only the P value needs to be modified.                   */
        wpilib.LiveWindow.addActuator("DriveSystem", "RotateController", turnController)

def __init__(self):
        super().__init__()
        
        self.motor = wpilib.Victor(7)
        self.contact = wpilib.DigitalInput(5)
        
        # Let's show everything on the LiveWindow
        wpilib.LiveWindow.addActuator("Claw", "Motor", self.motor)
        wpilib.LiveWindow.addActuator("Claw", "Limit Switch", self.contact)

def __init__(self, robot):

        self.robot = robot

        # Configure drive motors
        self.frontLeftCIM = wpilib.Victor(1)
        self.frontRightCIM = wpilib.Victor(2)
        self.backLeftCIM = wpilib.Victor(3)
        self.backRightCIM = wpilib.Victor(4)
        wpilib.LiveWindow.addActuator("DriveTrain", "Front Left CIM", self.frontLeftCIM)
        wpilib.LiveWindow.addActuator("DriveTrain", "Front Right CIM", self.frontRightCIM)
        wpilib.LiveWindow.addActuator("DriveTrain", "Back Left CIM", self.backLeftCIM)
        wpilib.LiveWindow.addActuator("DriveTrain", "Back Right CIM", self.backRightCIM)

        # Configure the RobotDrive to reflect the fact that all our motors are
        # wired backwards and our drivers sensitivity preferences.
        self.drive = wpilib.RobotDrive(self.frontLeftCIM, self.frontRightCIM, self.backLeftCIM, self.backRightCIM)
        self.drive.setSafetyEnabled(True)
        self.drive.setExpiration(.1)
        self.drive.setSensitivity(.5)
        self.drive.setMaxOutput(1.0)
        self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kFrontLeft, True)
        self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kFrontRight, True)
        self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearLeft, True)
        self.drive.setInvertedMotor(wpilib.RobotDrive.MotorType.kRearRight, True)

        # Configure encoders
        self.rightEncoder = wpilib.Encoder(1, 2,
                                           reverseDirection=True,