How to use the wpilib.wpilib._canjaguar function in wpilib

def setupPeriodicStatus(self):
        """Enables periodic status updates from the Jaguar
        """
        # Message 0 returns bus voltage, output voltage, output current, and
        # temperature.
        kMessage0Data = [
            _cj.LM_PSTAT_VOLTBUS_B0, _cj.LM_PSTAT_VOLTBUS_B1,
            _cj.LM_PSTAT_VOLTOUT_B0, _cj.LM_PSTAT_VOLTOUT_B1,
            _cj.LM_PSTAT_CURRENT_B0, _cj.LM_PSTAT_CURRENT_B1,
            _cj.LM_PSTAT_TEMP_B0, _cj.LM_PSTAT_TEMP_B1]

        # Message 1 returns position and speed
        kMessage1Data = [
            _cj.LM_PSTAT_POS_B0, _cj.LM_PSTAT_POS_B1,
            _cj.LM_PSTAT_POS_B2, _cj.LM_PSTAT_POS_B3,
            _cj.LM_PSTAT_SPD_B0, _cj.LM_PSTAT_SPD_B1,
            _cj.LM_PSTAT_SPD_B2, _cj.LM_PSTAT_SPD_B3]

        # Message 2 returns limits and faults
        kMessage2Data = [
            _cj.LM_PSTAT_LIMIT_CLR,
            _cj.LM_PSTAT_FAULT,
            _cj.LM_PSTAT_END,
            0, 0, 0, 0, 0]

def disableControl(self):
        """Disable the closed loop controller.

        Stop driving the output based on the feedback.
        """
        # Disable all control modes.
        self.sendMessage(_cj.LM_API_VOLT_DIS, None)
        self.sendMessage(_cj.LM_API_SPD_DIS, None)
        self.sendMessage(_cj.LM_API_POS_DIS, None)
        self.sendMessage(_cj.LM_API_ICTRL_DIS, None)
        self.sendMessage(_cj.LM_API_VCOMP_DIS, None)

        # Stop all periodic setpoints
        self.sendMessage(_cj.LM_API_VOLT_T_SET, None,
                         frccan.CAN_SEND_PERIOD_STOP_REPEATING)
        self.sendMessage(_cj.LM_API_SPD_T_SET, None,
                         frccan.CAN_SEND_PERIOD_STOP_REPEATING)
        self.sendMessage(_cj.LM_API_POS_T_SET, None,
                         frccan.CAN_SEND_PERIOD_STOP_REPEATING)
        self.sendMessage(_cj.LM_API_ICTRL_T_SET, None,
                         frccan.CAN_SEND_PERIOD_STOP_REPEATING)
        self.sendMessage(_cj.LM_API_VCOMP_T_SET, None,
                         frccan.CAN_SEND_PERIOD_STOP_REPEATING)

except frccan.CANMessageNotFound:
                # Verification is needed but not available - request it again.
                self.requestMessage(_cj.LM_API_SPD_REF)

        if not self.posRefVerified:
            try:
                data = self.getMessage(_cj.LM_API_POS_REF, _cj.CAN_MSGID_FULL_M)
                posRef = data[0]
                if self.positionReference == posRef:
                    self.posRefVerified = True
                else:
                    # It's wrong - set it again
                    self.setPositionReference(self.positionReference)
            except frccan.CANMessageNotFound:
                # Verification is needed but not available - request it again.
                self.requestMessage(_cj.LM_API_POS_REF)

        if not self.pVerified:
            message = 0
            if self.controlMode == self.ControlMode.Speed:
                message = _cj.LM_API_SPD_PC
            elif self.controlMode == self.ControlMode.Position:
                message = _cj.LM_API_POS_PC
            elif self.controlMode == self.ControlMode.Current:
                message = _cj.LM_API_ICTRL_PC

            if message != 0:
                try:
                    data = self.getMessage(message, _cj.CAN_MSGID_FULL_M)
                    p = _unpackFXP16_16(data)
                    if _FXP16_EQ(self.p, p):
                        self.pVerified = True

def updateSyncGroup(syncGroup):
        """Update all the motors that have pending sets in the syncGroup.

        :param syncGroup: A bitmask of groups to generate synchronous output.
        """
        _sendMessageHelper(_cj.CAN_MSGID_API_SYNC, [syncGroup],
                           frccan.CAN_SEND_PERIOD_NO_REPEAT)

_cj.LM_PSTAT_VOLTBUS_B0, _cj.LM_PSTAT_VOLTBUS_B1,
            _cj.LM_PSTAT_VOLTOUT_B0, _cj.LM_PSTAT_VOLTOUT_B1,
            _cj.LM_PSTAT_CURRENT_B0, _cj.LM_PSTAT_CURRENT_B1,
            _cj.LM_PSTAT_TEMP_B0, _cj.LM_PSTAT_TEMP_B1]

        # Message 1 returns position and speed
        kMessage1Data = [
            _cj.LM_PSTAT_POS_B0, _cj.LM_PSTAT_POS_B1,
            _cj.LM_PSTAT_POS_B2, _cj.LM_PSTAT_POS_B3,
            _cj.LM_PSTAT_SPD_B0, _cj.LM_PSTAT_SPD_B1,
            _cj.LM_PSTAT_SPD_B2, _cj.LM_PSTAT_SPD_B3]

        # Message 2 returns limits and faults
        kMessage2Data = [
            _cj.LM_PSTAT_LIMIT_CLR,
            _cj.LM_PSTAT_FAULT,
            _cj.LM_PSTAT_END,
            0, 0, 0, 0, 0]

        data = _packINT16(int(self.kSendMessagePeriod))
        self.sendMessage(_cj.LM_API_PSTAT_PER_EN_S0, data)
        self.sendMessage(_cj.LM_API_PSTAT_PER_EN_S1, data)
        self.sendMessage(_cj.LM_API_PSTAT_PER_EN_S2, data)

        self.sendMessage(_cj.LM_API_PSTAT_CFG_S0, kMessage0Data)
        self.sendMessage(_cj.LM_API_PSTAT_CFG_S1, kMessage1Data)
        self.sendMessage(_cj.LM_API_PSTAT_CFG_S2, kMessage2Data)

class CANJaguar(LiveWindowSendable, MotorSafety):
    """Texas Instruments Jaguar Speed Controller as a CAN device."""

    kMaxMessageDataSize = 8

    # The internal PID control loop in the Jaguar runs at 1kHz.
    kControllerRate = 1000
    kApproxBusVoltage = 12.0

    kReceiveStatusAttempts = 50

    allocated = Resource(63)

    kFullMessageIDMask = \
            _cj.CAN_MSGID_API_M | _cj.CAN_MSGID_MFR_M | _cj.CAN_MSGID_DTYPE_M
    kSendMessagePeriod = 20

    kTrustedMessages = set([
            _cj.LM_API_VOLT_T_EN, _cj.LM_API_VOLT_T_SET, _cj.LM_API_SPD_T_EN,
            _cj.LM_API_SPD_T_SET, _cj.LM_API_VCOMP_T_EN, _cj.LM_API_VCOMP_T_SET,
            _cj.LM_API_POS_T_EN, _cj.LM_API_POS_T_SET, _cj.LM_API_ICTRL_T_EN,
            _cj.LM_API_ICTRL_T_SET])

    class Mode:
        """Control Mode."""
        
        #: Sets an encoder as the speed reference only.
        kEncoder = 0
        
        #: Sets a quadrature encoder as the position and speed reference.
        kQuadEncoder = 1

# Verify periodic status messages again
                self.receivedStatusMessage0 = False
                self.receivedStatusMessage1 = False
                self.receivedStatusMessage2 = False

                # Remove any old values from netcomms. Otherwise, parameters
                # are incorrectly marked as verified based on stale messages.
                messages = [
                    _cj.LM_API_SPD_REF, _cj.LM_API_POS_REF,
                    _cj.LM_API_SPD_PC, _cj.LM_API_POS_PC,
                    _cj.LM_API_ICTRL_PC, _cj.LM_API_SPD_IC,
                    _cj.LM_API_POS_IC, _cj.LM_API_ICTRL_IC,
                    _cj.LM_API_SPD_DC, _cj.LM_API_POS_DC,
                    _cj.LM_API_ICTRL_DC, _cj.LM_API_CFG_ENC_LINES,
                    _cj.LM_API_CFG_POT_TURNS, _cj.LM_API_CFG_BRAKE_COAST,
                    _cj.LM_API_CFG_LIMIT_MODE, _cj.LM_API_CFG_LIMIT_REV,
                    _cj.LM_API_CFG_MAX_VOUT, _cj.LM_API_VOLT_SET_RAMP,
                    _cj.LM_API_VCOMP_COMP_RAMP, _cj.LM_API_CFG_FAULT_TIME,
                    _cj.LM_API_CFG_LIMIT_FWD]

                for message in messages:
                    try:
                        data = self.getMessage(message, _cj.CAN_MSGID_FULL_M)
                    except frccan.CANMessageNotFound:
                        pass
        except frccan.CANMessageNotFound:
            self.requestMessage(_cj.LM_API_STATUS_POWER)

        # Verify that any recently set parameters are correct
        if not self.controlModeVerified and self.controlEnabled:
            try:
                data = self.getMessage(_cj.LM_API_STATUS_CMODE,

else:
                    self.pVerified = False
                    self.iVerified = False
                    self.dVerified = False

                # Verify periodic status messages again
                self.receivedStatusMessage0 = False
                self.receivedStatusMessage1 = False
                self.receivedStatusMessage2 = False

                # Remove any old values from netcomms. Otherwise, parameters
                # are incorrectly marked as verified based on stale messages.
                messages = [
                    _cj.LM_API_SPD_REF, _cj.LM_API_POS_REF,
                    _cj.LM_API_SPD_PC, _cj.LM_API_POS_PC,
                    _cj.LM_API_ICTRL_PC, _cj.LM_API_SPD_IC,
                    _cj.LM_API_POS_IC, _cj.LM_API_ICTRL_IC,
                    _cj.LM_API_SPD_DC, _cj.LM_API_POS_DC,
                    _cj.LM_API_ICTRL_DC, _cj.LM_API_CFG_ENC_LINES,
                    _cj.LM_API_CFG_POT_TURNS, _cj.LM_API_CFG_BRAKE_COAST,
                    _cj.LM_API_CFG_LIMIT_MODE, _cj.LM_API_CFG_LIMIT_REV,
                    _cj.LM_API_CFG_MAX_VOUT, _cj.LM_API_VOLT_SET_RAMP,
                    _cj.LM_API_VCOMP_COMP_RAMP, _cj.LM_API_CFG_FAULT_TIME,
                    _cj.LM_API_CFG_LIMIT_FWD]

                for message in messages:
                    try:
                        data = self.getMessage(message, _cj.CAN_MSGID_FULL_M)
                    except frccan.CANMessageNotFound:
                        pass
        except frccan.CANMessageNotFound:
            self.requestMessage(_cj.LM_API_STATUS_POWER)

def setupPeriodicStatus(self):
        """Enables periodic status updates from the Jaguar
        """
        # Message 0 returns bus voltage, output voltage, output current, and
        # temperature.
        kMessage0Data = [
            _cj.LM_PSTAT_VOLTBUS_B0, _cj.LM_PSTAT_VOLTBUS_B1,
            _cj.LM_PSTAT_VOLTOUT_B0, _cj.LM_PSTAT_VOLTOUT_B1,
            _cj.LM_PSTAT_CURRENT_B0, _cj.LM_PSTAT_CURRENT_B1,
            _cj.LM_PSTAT_TEMP_B0, _cj.LM_PSTAT_TEMP_B1]

        # Message 1 returns position and speed
        kMessage1Data = [
            _cj.LM_PSTAT_POS_B0, _cj.LM_PSTAT_POS_B1,
            _cj.LM_PSTAT_POS_B2, _cj.LM_PSTAT_POS_B3,
            _cj.LM_PSTAT_SPD_B0, _cj.LM_PSTAT_SPD_B1,
            _cj.LM_PSTAT_SPD_B2, _cj.LM_PSTAT_SPD_B3]

        # Message 2 returns limits and faults
        kMessage2Data = [
            _cj.LM_PSTAT_LIMIT_CLR,
            _cj.LM_PSTAT_FAULT,
            _cj.LM_PSTAT_END,
            0, 0, 0, 0, 0]

try:
            data = self.getMessage(_cj.LM_API_PSTAT_DATA_S0,
                                   _cj.CAN_MSGID_FULL_M)

            self.busVoltage    = _unpackFXP8_8(data[0:2])
            self.outputVoltage = _unpackPercentage(data[2:4]) * self.busVoltage
            self.outputCurrent = _unpackFXP8_8(data[4:6])
            self.temperature   = _unpackFXP8_8(data[6:8])

            self.receivedStatusMessage0 = True
        except frccan.CANMessageNotFound:
            pass

        # Check if a new position/speed message has arrived and do the same
        try:
            data = self.getMessage(_cj.LM_API_PSTAT_DATA_S1,
                                   _cj.CAN_MSGID_FULL_M)

            self.position = _unpackFXP16_16(data[0:4])
            self.speed    = _unpackFXP16_16(data[4:8])

            self.receivedStatusMessage1 = True
        except frccan.CANMessageNotFound:
            pass

        # Check if a new limits/faults message has arrived and do the same
        try:
            data = self.getMessage(_cj.LM_API_PSTAT_DATA_S2,
                                   _cj.CAN_MSGID_FULL_M)
            self.limits = data[0]
            self.faults = data[1]