robotInit() not being called.

[danruff5]

We are working on our auto. But to get everything to run we have to enable it in telop first. Then we enable it in auto and it works fine.

I have done some testing and the I have found an issue where the robotInit() method was not being called. This was tested by just creating four Victors in it which where the drive motors. Then in auto I set all of them to some values to set them. If i put the Victor creation in the robotInit() constructor the robot throws the NullPointerException. If its otherwise it works.

I have read the API and thats what the robotIntit() method is for. So, I am not sure what is going on...

The robot is extended from SampleRobot because we have not learned the iterative robot.

[nandeeka]

Could you post your code? It will be easier for us to help you with more information.

[Poseidon5817]

Wouldn't it be easier to debug by just putting a print statement in robotInit() instead of driving and creating Talons?

[danruff5]

The rest of the code is on https://github.com/RenaissanceRobotics/RecycleRush2015

/* This is the revised code that has been polished, heavily tested and set for the competition.
* THIS IS NOT FOR MODIFICATION UNLESS YOU HAVE MADE A COPY PRIOR TO THE COMPETITION.
* MODIFYING THIS AT THE COMPETITION THE NIGHT BEFORE WILL RESULT IN A SEVERE $@#$@#$@# KICKING. DON'T DO IT.
* Let's not repeat last year.
*/

package org.usfirst.frc.team4525.robot;

import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Gyro;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.smartdashboard.SendableChoos er;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboar d;

public class Robot extends SampleRobot {
/*
* IMPORTANT NOTES: We do not have D-PAD (POV) functionality presently with
* the XboxController class.
*/

// Control Systems | Mechanisms
private XboxController xboxDrive, xboxMech;
private DriveTrain driveSys;

Victor one, two, three, four;

public Talon winch, boom;

// Sensors
private Encoder leftEncoder, rightEncoder;
private final double encoderPulses = 0.051;
private DigitalInput boomBackSwitch;
private DigitalInput boomFrontSwitch;
private DigitalInput robotFrontTouch;
private Gyro gyro;
CameraServer cam;
// private final double gyroSensitivity = 0.071;

// Pneumatic Systems
private Compressor compressor;
private Piston claw, tilt;

// Control Selection | Autonomous Selection
private SendableChooser driveModeChooser;

enum driveMode {
ONE_DRIVER, TWO_DRIVER, TEST
}

private SendableChooser autoModeChooser;

enum autoMode {
FULL_OUT_FAR, FULL_OUT_CLOSE, GET_TOTE, NOTHING, KICK_THE_ROBOT, INIT_ERROR_FIX
}

enum Winch {
UP(1.0), DOWN(-1.0), OFF(0.0);

private final double value;

Winch(double value) {
this.value = value;
}

double get() {
return this.value;
}
}

enum Boom {
FORWARD(-1.0), BACKWARD(1.0), OFF(0.0);

private final double value;

Boom(double value) {
this.value = value;
}

double get() {
return this.value;
}
}

/*
* ROBOT CODE:
*/

// Initiation
public Robot() {
// Control Systems
xboxDrive = new XboxController(0);
xboxMech = new XboxController(1);
/*driveSys = new DriveTrain(new Victor(0), new Victor(1), new Victor(2), new Victor(3));
driveSys.setTurnSensitivity(0.75);
driveSys.speedSensitivity(1.0);*/
// = 'Mechanismsyui
winch = new Talon(4);
boom = new Talon(5);

// Sensors
leftEncoder = new Encoder(0, 1, false, EncodingType.k4X);
rightEncoder = new Encoder(2, 3, true, EncodingType.k4X);
boomBackSwitch = new DigitalInput(9); // End of boom
boomFrontSwitch = new DigitalInput(8); // Front of boom
robotFrontTouch = new DigitalInput(5); // Switch on front
leftEncoder.setDistancePerPulse(encoderPulses);
rightEncoder.setDistancePerPulse(encoderPulses);
// Gyro Setup
gyro = new Gyro(0);
// Camera Setup
// cam = CameraServer.getInstance();
// cam.setQuality(30);
// cam.startAutomaticCapture("cam0");

// Pneumatics
compressor = new Compressor(0);
tilt = new Piston(0, 1, false); // Moves up down
claw = new Piston(2, 3, true); // Grips/Ungrips

// SmartDashboard | Data | Input
driveModeChooser = new SendableChooser();
driveModeChooser.addDefault("Dual Operators", driveMode.TWO_DRIVER);
driveModeChooser.addObject("One Operator", driveMode.ONE_DRIVER);
driveModeChooser.addObject("Testing", driveMode.TEST);
SmartDashboard.putData("Driver Mode", driveModeChooser);

autoModeChooser = new SendableChooser();
autoModeChooser.addDefault("Bin Grab - Far Bump", autoMode.FULL_OUT_FAR);
autoModeChooser.addDefault("Tote Grabber", autoMode.GET_TOTE);
autoModeChooser.addObject("Do Nothing", autoMode.NOTHING);
autoModeChooser.addObject("Kick The Robot Game", autoMode.KICK_THE_ROBOT);
autoModeChooser.addObject("Init Error Fix", autoMode.INIT_ERROR_FIX);
SmartDashboard.putData("Automiton Mode", autoModeChooser);

}

public void robotInit () {
one = new Victor (0);
two = new Victor (1);
three = new Victor (2);
four = new Victor (3);
}

public void autonomous() {
compressor.start();
/*driveSys.setControlSensitivity(1);
driveSys.speedSensitivity(1);
driveSys.setSkimReverse(false);*/
//
claw.retract();
tilt.extend();
gyro.reset();
//
autoMode mode = (autoMode) autoModeChooser.getSelected();
if (mode == autoMode.INIT_ERROR_FIX) {
while (isEnabled()) {
double val = 0.5;
one.set(val);
two.set(val);
three.set(-val);
four.set(-val);
}
}
else if (mode == autoMode.GET_TOTE) {
tilt.retract();
claw.extend();
} else if (mode == autoMode.NOTHING) {
// Nothing Mode
claw.extend();
winch.set(Winch.UP.get());
} else if (mode == autoMode.KICK_THE_ROBOT) { // Gyro Test || Kick The
// Robot
while (isEnabled()) {
driveDistance(75, 0.3, false);
driveDistance(-75, -0.3, false);
}
} else if(mode == autoMode.FULL_OUT_CLOSE) { // Close Bump
driveDistance(22, 0.35, true);
// Boom Forward
ArmMovements boomForward = new ArmMovements(boom, Boom.FORWARD.get(), boomBackSwitch, 0.5);
Thread boomForwardThread = new Thread(boomForward);
boomForwardThread.start();
// Drop Claw
ArmMovements dropClaw = new ArmMovements(winch, Winch.DOWN.get(), 3);
Thread dropClawThread = new Thread(dropClaw);
dropClawThread.start();
// Go forwards
driveDistanceOrLimit(86, 0.5, robotFrontTouch, false);
while (!boomForward.isReady());
// Grab bin
claw.extend();
Timer.delay(0.5);
//
winch.set(Winch.UP.get());
Timer.delay(3);;
// Back Arm off
winch.set(Winch.OFF.get());


} else {
// Move Arm Forwards
ArmMovements boomForward = new ArmMovements(boom, Boom.FORWARD.get(), boomBackSwitch, 0.5);
Thread boomForwardThread = new Thread(boomForward);
boomForwardThread.start();
// Drive To
driveDistance(50, 0.5, false);
// Drop Arms
ArmMovements dropClaw = new ArmMovements(winch, Winch.DOWN.get(), 3);
Thread dropClawThread = new Thread(dropClaw);
dropClawThread.start();
// Go to bin
driveDistanceOrLimit(53, 0.35, robotFrontTouch, true);
// Extend Boom
while (!boomForward.isReady());
// Grab Bin
claw.extend();
Timer.delay(0.5);
// Raise Winch
winch.set(Winch.UP.get());
Timer.delay(3);;
// Back Arm off
winch.set(Winch.OFF.get());
// Back Arm off
ArmMovements boomBackward = new ArmMovements(boom, Boom.BACKWARD.get(), boomFrontSwitch);
Thread boomBackwardThread = new Thread(boomBackward);
boomBackwardThread.start();
// Hold up
Timer.delay(0.25);
// Back Off
driveDistance(-15, -0.35, true);
driveDistance(-20, -0.5, false);
// Drop Winch
ArmMovements winchDrop = new ArmMovements(winch, Winch.DOWN.get(), 3.5);
Thread winchDropThread = new Thread(winchDrop);
winchDropThread.start();
// Back up more
driveDistance(-11, 0.4, false);
driveDistance(-4, 0.3, false);
// Spin to 45 degrees
Timer.delay(1.5);
spinRobot(-30, 0.4);
Timer.delay(0.5);
driveDistance(-2,0.35,true);
//claw.retract();
}
}

public void operatorControl() {
compressor.start();
driveSys.setControlSensitivity(6);
driveSys.setSkimReverse(true);
driveSys.speedSensitivity(0.75);
//
driveMode mode = (driveMode) driveModeChooser.getSelected();
double power, offset;
if (mode == driveMode.ONE_DRIVER) { // One Driver
while (isOperatorControl() && isEnabled()) {
// Mechanism Movement
// Up/Down
if (xboxDrive.getAButton()) {
winch.set(Winch.DOWN.get()); // Winch down
} else if (xboxDrive.getYButton()) {
winch.set(Winch.UP.get()); // Winch up
} else {
winch.set(Winch.OFF.get());
}
// In/Out
if (xboxDrive.getRawButton(6) && boomBackSwitch.get()) {
boom.set(Boom.FORWARD.get()); // Boom Out
} else if (xboxDrive.getRawButton(5) && boomFrontSwitch.get()) {
boom.set(Boom.BACKWARD.get()); // Boom In
} else {
boom.set(Boom.OFF.get());
}

// Pneumatics
// Gripper
if (xboxDrive.getXButton()) {
tilt.extend();
} else if (xboxDrive.getBButton()) {
tilt.retract();
}
// Claw
if (xboxDrive.getTrigger(XboxController.AxisType.kTri ggerR)) {
claw.extend();
} else if (xboxDrive.getTrigger(XboxController.AxisType.kTri ggerL)) {
claw.retract();
}
// Solenoid Use
tilt.countTime();
claw.countTime();

// Drive Controls
driveSys.setSprint(xboxDrive.getRawButton(9));

power = -xboxDrive.getAxis(XboxController.AxisType.kLeftY);
offset = -xboxDrive.getAxis(XboxController.AxisType.kRightX) ;
driveSys.arcadeDrive(power, offset);
}
} else { // Dual Drivers
double mechUD, mechLR;
while (isOperatorControl() && isEnabled()) {
// Mechanism Movement
// Up/Down Movement
mechUD = -xboxMech.getAxis(XboxController.AxisType.kLeftY);
// Left/Right Movement
mechLR = xboxMech.getAxis(XboxController.AxisType.kRightY);
// Modify Values

if (mechUD > 0.6 && mechUD > 0) {
mechUD = Winch.UP.get();
} else if (mechUD < -0.6) {
mechUD = Winch.DOWN.get();
} else {
mechUD = Winch.OFF.get();
}
if ((mechLR < 0.4 && mechLR > 0) || (mechLR > -0.4 && mechLR < 0))
mechLR = 0;
if (!boomBackSwitch.get() && mechLR < 0)
mechLR = 0;
if (!boomFrontSwitch.get() && mechLR > 0)
mechLR = 0;

// Pneumatics
// Gripper
if (xboxMech.getXButton()) {
tilt.extend();
} else if (xboxMech.getBButton()) {
tilt.retract();
}
// Claw
if (xboxMech.getTrigger(XboxController.AxisType.kTrig gerR)) {
claw.extend();
} else if (xboxMech.getTrigger(XboxController.AxisType.kTrig gerL)) {
claw.retract();
}
// Solenoid Use
tilt.countTime();
claw.countTime();

// Set the mechanisms
winch.set(mechUD);
boom.set(mechLR);

// Drive Controls
driveSys.setSprint(xboxDrive.getRawButton(9));

power = -xboxDrive.getAxis(XboxController.AxisType.kLeftY);
offset = -xboxDrive.getAxis(XboxController.AxisType.kRightX) ;
driveSys.arcadeDrive(power, offset);
}
}

}

/**
* Runs during test mode
*/
public void test() {
}

// Our Own Methods
private double encoderAverage(double e1, double e2) {
return (e1 + e2) / 2;
}

private void driveStraitEncoders(double speed, double le, double re) {
double offset = (le - re) * 0.05;
if (offset > 0.04)
offset = 0.04;
if (offset < -0.04)
offset = -0.04;
driveSys.arcadeDrive(speed, offset);
}

private void driveStraitGyro(double speed) {
double offset = gyro.getAngle() * 0.15;
if (offset > 0.15 && offset > 0)
offset = 0.15;
if (offset < 0 && offset < -0.15)
offset = -0.15;
driveSys.arcadeDrive(speed, offset);
}

private void driveDistanceOrLimit(double distance, double speed, DigitalInput limitswitch, boolean useEncoders) {
leftEncoder.reset();
rightEncoder.reset();
double le, re, count;
count = 0;
//
if ((distance > 0 && speed < 0) || (distance < 0 && speed > 0)) speed = speed * -1;
if (distance > 0) {
while (limitswitch.get() && isEnabled() && count < distance) {
le = leftEncoder.getDistance();
re = rightEncoder.getDistance();
count = encoderAverage(le, re);
SmartDashboard.putNumber("Encoders_DOL", count);
if (!useEncoders) {
driveStraitGyro(speed);
} else {
driveStraitEncoders(speed, le, re);
}
}
} else {
while (limitswitch.get() && isEnabled() && count > distance) {
le = leftEncoder.getDistance();
re = rightEncoder.getDistance();
count = encoderAverage(le, re);
SmartDashboard.putNumber("Encoders_DOL", count);
if (!useEncoders) {
driveStraitGyro(speed);
} else {
driveStraitEncoders(speed, le, re);
}
}
}
driveSys.stop();
}

private void driveDistance(double distance, double speed, boolean useEncoders) {
double count = 0;
double le, re;
leftEncoder.reset();
rightEncoder.reset();
count = 0;
if (distance > 0) {
if (speed < 0)
speed = speed * -1;
while (isEnabled() && count < distance) {
le = leftEncoder.getDistance();
re = rightEncoder.getDistance();
count = encoderAverage(le, re);
if (useEncoders) {
driveStraitEncoders(speed, le, re);
} else {
driveStraitGyro(speed);
}
}
driveSys.stop();
} else if (distance < 0) {
if (speed > 0)
speed = speed * -1;
while (isEnabled() && count > distance) {
le = leftEncoder.getDistance();
re = rightEncoder.getDistance();
count = encoderAverage(le, re);
if (useEncoders) {
driveStraitEncoders(speed, le, re);
} else {
driveStraitGyro(speed);
}
}
driveSys.stop();
}
}

public void spinRobot(double degree, double speed) {
double count = 0;
double l = 0;
double r = 0;
gyro.reset();
if (degree > 0 && speed < 0)
speed = speed * -1;
if (degree < 0) {
r = -speed;
l = speed;
} else if (degree > 0) {
l = -speed;
r = speed;
}
if (speed > 0.3)
degree = degree - 20;
while (isEnabled() && (degree > 0 && count < degree) || (degree < 0 && count > degree)) {
count = gyro.getAngle();
driveSys.manualDrive(l, r);
}
driveSys.stop();
}

}

[danruff5]

Wouldn't it be easier to debug by just putting a print statement in robotInit() instead of driving and creating Talons?

That is true but our problem is that no motors worked but pistons did...

[Patrick Chiang]

I'll look into the source of SampleRobot later, but my guess is that robotInit() is called in the constructor in SampleRobot(). So when you override Robot() in your file, robotInit() doesn't get called any more. To fix that problem (if that were the problem), do super(); at the end of Robot().

[danruff5]

I'll look into the source of SampleRobot later, but my guess is that robotInit() is called in the constructor in SampleRobot(). So when you override Robot() in your file, robotInit() doesn't get called any more. To fix that problem (if that were the problem), do super(); at the end of Robot().

Thanks, I think something like this will help!