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View Full Version : Syncgroups with CAN in Java

rudun
09-12-2011, 07:56
I i have figured out how to kinda build a syncgroup from looking at some robotdrive source. However setting the byte value i assume is done to address the specific jaguars to update. I have not found anything that explains how to set that. Then you just update the sync group. If anyone has any information on this it will be greatly appreciated.
Jeremy Germita
09-12-2011, 13:07
The setX method's 2 argument variant lets you set the sync group. Once you call the setX(double value, byte syncGroup) for every motor you want in the sync group, update the syncgroup.

To choose sync group numbers, you just specify them in the setX command of the motor controller. No other setup is required.

If you need any more help, ask away :)
jhersh
12-12-2011, 04:19
I i have figured out how to kinda build a syncgroup from looking at some robotdrive source. However setting the byte value i assume is done to address the specific jaguars to update. I have not found anything that explains how to set that. Then you just update the sync group. If anyone has any information on this it will be greatly appreciated.

The sync group parameter is a mask. Choose a unique mask (it doesn't have to have anything to do with the IDs of the jags). By including a sync group parameter, the update will not happen until the sync update broadcast is sent with the same mask set. The only reason for the sync group mask is allow for you to potentially have more than one set of actions running on different Jaguars on the same CAN bus without the sync update broadcast messages interfering.

-Joe
rudun
25-12-2011, 16:16
Thank you both for the help. I belive my sync group is working. However i am not getting anything close for the speed of both of my motors using the same encoder setup on identical gear boxes. I am wondering if this is a result of a delay in the bus or not having optimal code.

public class CanCode extends SimpleRobot{
FPS leftMotor, rightMotor, thirdMotor;
Joystick driverStick;
RobotDrive driveTrain;
Encoder encoder;
double leftMotorBus;
int Wheel, TicksInitial;
double Circumference,PI,Ticks,RWDTick,DistanceUwant,DISTi ck;


public CanCode() {

driverStick = new Joystick(1);

leftMotor = getJaguar(2);
rightMotor = getJaguar(3);
thirdMotor = getJaguar(4);
driveTrain = new RobotDrive(leftMotor,rightMotor);
encoder = new Encoder(1,2,true,Encoder.EncodingType.k4X);
PI = 3.141592654; // Pi never needs to change.
Wheel = 6; // Size of the wheel.
TicksInitial = 246; // How many ticks it counts for one wheel roation // How many ticks it counts for one wheel roation
DistanceUwant = 24.0; // Must Be in Inches

Circumference = PI * Wheel; // Gets the Circumference of the wheel.
Ticks = Circumference/TicksInitial; // Distance of each tick
// Distance of each tick
encoder.setDistancePerPulse(Ticks);
encoder.setMinRate(1);


try {
leftMotor.configEncoderCodesPerRev(246);
leftMotor.setSpeedReference(CANJaguar.SpeedReferen ce.kQuadEncoder);
leftMotor.setWheelSize(6.0);
rightMotor.configEncoderCodesPerRev(246);
rightMotor.setSpeedReference(CANJaguar.SpeedRefere nce.kQuadEncoder);
rightMotor.setWheelSize(6.0);
} catch (CANTimeoutException ex) {
System.out.println(ex.getMessage());
}

}
/**
* This function is called once each time the robot enters autonomous mode.
*/
public void autonomous() {
encoder.start();
encoder.reset();
Timer timer = new Timer();
timer.start();
timer.reset();

double time;

while (isAutonomous() && isEnabled()) {
try{
updateDashboard();
byte syncgroup1 = (byte)0x90;

leftMotor.setX(0.5, syncgroup1);
rightMotor.setX(0.5, syncgroup1);
//driveTrain.mecanumDrive_Polar(0.5,0.0 , 0.0);
System.out.println("Speed left motor: " + leftMotor.getSpeed());
System.out.println("Speed right motor: " + rightMotor.getSpeed());

CANJaguar.updateSyncGroup(syncgroup1);
} catch (CANTimeoutException ex) {
System.out.println(ex.getMessage());
}


}
}

and this is my output from the console
init:
init:
Deleting directory C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\build
Deleting directory C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\suite
Deleting directory C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\j2meclasses
clean:
Created dir: C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\build
Compiling 2 source files to C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\build
compile:
Created dir: C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\j2meclasses
preverify:
Created dir: C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\suite
Building jar: C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\suite\CanCode_1.0.0.jar
jar-app:
CompilerOracle: exclude com/sun/squawk/Method.getParameterTypes
CompilerOracle: exclude com/sun/squawk/SymbolParser.getSignatureTypeAt
CompilerOracle: exclude com/sun/squawk/SymbolParser.stripMethods
[translating suite image [closed: false, parent: squawk] ...]
### Excluding compile: com.sun.squawk.Method::getParameterTypes
### Excluding compile: com.sun.squawk.SymbolParser::getSignatureTypeAt
[Including resource: META-INF/MANIFEST.MF]
Romizer processed 120 classes and generated 4 files.
Expanding: C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\suite\CanCode_1.0.0.jar into C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\suite
Moving 1 file to C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\suite
Moving 1 file to C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\suite
Moving 1 file to C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\suite
Deleting: C:\Users\RobotDeveloper\Documents\NetBeansProjects \CanCode\image.suite.api
Host OS: Windows 7 6.1, 6.1
Host JVM: Java HotSpot(TM) Client VM 21.1-b02
Target IP: 10.12.3.2
Network interfaces on host:
Marvell Yukon 88E8040 PCI-E Fast Ethernet Controller: address: 10.12.3.5 netmask: 255.0.0.0 <--- on robot's subnet
Dell Wireless 1397 WLAN Mini-Card: address: 192.168.2.111 netmask: 255.255.255.254
Connecting FTP @10.12.3.2
upgrade:
Sending local file image.suite
flashapp:
deploy:
init:
[cRIO] [OTA Server] ********* REBOOTING cRIO *********
[cRIO]
Waiting for cRIO to reboot (1s)
Waiting for cRIO to reboot (2s)
Waiting for cRIO to reboot (3s)
Waiting for cRIO to reboot (4s)
Waiting for cRIO to reboot (5s)
Waiting for cRIO to reboot (6s)
Waiting for cRIO to reboot (7s)
Waiting for cRIO to reboot (8s)
[cRIO]
[cRIO] -> * Loading StartupDlls: debug
[cRIO] Entering debug.o StartupLibraryInit
[cRIO] Debugging is up, target server mounted at /tsfs
[cRIO]
[cRIO]
[cRIO] VxWorks
[cRIO]
[cRIO] Copyright 1984-2006 Wind River Systems, Inc.
[cRIO]
[cRIO] CPU: MPC5200 -- Wind River Lite5200 BSP.
[cRIO] Runtime Name: VxWorks
[cRIO] Runtime Version: 6.3
[cRIO] BSP version: 2.0/10
[cRIO] Created: Jul 29 2009, 13:41:47
[cRIO] ED&R Policy Mode: Deployed
[cRIO] WDB Comm Type: WDB_COMM_END
[cRIO] WDB: Ready.
[cRIO]
[cRIO] Leaving debug.o StartupLibraryInit
[cRIO] * Loading StartupDlls: NiRioRpc
[cRIO] * Loading StartupDlls: niorbs
[cRIO] * Loading StartupDlls: NiViSrvr
[cRIO] * Loading StartupDlls: visa32
[cRIO] * Loading StartupDlls: nivissvc
[cRIO] task 0xee94f8 (PAL00fba8f0) deleted: errno=0 (0) status=0 (0)
[cRIO] NI-RIO Server 3.2 started successfully.
[cRIO] task 0xc64998 (NiRioRpc) deleted: errno=0 (0) status=0 (0)
[cRIO] * Loading StartupDlls: nivision
[cRIO] * Loading StartupDlls: niserial
[cRIO] * Loading StartupDlls: FRC_FPGA
[cRIO] * Loading StartupDlls: FRC_NetworkCommunication
[cRIO] task 0x1b0d798 (t2) deleted: errno=0 (0) status=0 (0)
[cRIO] FRC_NetworkCommunication was compiled from SVN revision 2264
[cRIO]
[cRIO] NI-VISA Server 4.5 started successfully.
[cRIO] task 0xe67b08 (t1) deleted: errno=1835009 (0x1c0001) status=1 (0x1)
[cRIO] FPGA Hardware GUID: 0x2EAA5E59CAF1A8A966853A011B61CC91
[cRIO] FPGA Software GUID: 0x2EAA5E59CAF1A8A966853A011B61CC91
[cRIO] FPGA Hardware Version: 2011
[cRIO] FPGA Software Version: 2011
[cRIO] FPGA Hardware Revision: 1.5.3
[cRIO] FPGA Software Revision: 1.5.3
[cRIO] * Loading StartupDlls: FRC_BlackJagBridgePlugin
[cRIO] FRC_BlackJagBridgePlugin was compiled from SVN revision 67
[cRIO] * Loading StartupDlls: FRC_JavaVM
[cRIO]
[cRIO]
[cRIO] [OTA Server] Version: 2011 FRC, Jan 6 2011, 09:47:42
[cRIO]
[cRIO]
[cRIO] Welcome to LabVIEW Real-Time 8.6.1f3
[cRIO]
[cRIO] [Squawk VM] Version: 2011 FRC, Feb 18 2011, 15:57:21
[cRIO] FPGA Hardware GUID: 0x2eaa5e59caf1a8a966853a011b61cc91
[cRIO] FPGA Software GUID: 0x2eaa5e59caf1a8a966853a011b61cc91
[cRIO] Trying to connect to CAN port 2...
[cRIO] Connected to CAN port 2
[cRIO] Trying to connect to CAN port 3...
[cRIO] Connected to CAN port 3
[cRIO] Trying to connect to CAN port 4...
[cRIO] Connected to CAN port 4
[cRIO] Default robotInit() method running, consider providing your own
[cRIO] Default disabled() method running, consider providing your own
[cRIO] Speed left motor: 0.0
[cRIO] Speed right motor: 0.0
[cRIO] Speed left motor: 177.89300537109375
[cRIO] Speed right motor: 142.97267150878906
[cRIO] Speed left motor: 258.02955627441406
[cRIO] Speed right motor: 183.66146850585938
[cRIO] Speed left motor: 266.81520080566406
[cRIO] Speed right motor: 189.48477172851562
[cRIO] Speed left motor: 274.95518493652344
[cRIO] Speed right motor: 189.80734252929688
[cRIO] Speed left motor: 261.9086608886719
[cRIO] Speed right motor: 199.664306640625
[cRIO] Speed left motor: 274.0476837158203
[cRIO] Speed right motor: 187.680419921875
[cRIO] Speed left motor: 274.33665466308594
[cRIO] Speed right motor: 193.37193298339844
[cRIO] Speed left motor: 291.270263671875
[cRIO] Speed right motor: 193.5733642578125
[cRIO] Speed left motor: 279.22430419921875
[cRIO] Speed right motor: 191.13674926757812
[cRIO] Speed left motor: 291.35723876953125
[cRIO] Speed right motor: 192.42794799804688
[cRIO] Speed left motor: 279.4642639160156
[cRIO] Speed right motor: 190.7350311279297
[cRIO] Speed left motor: 283.95831298828125
[cRIO] Speed right motor: 194.22850036621094
[cRIO] Speed left motor: 275.7907409667969
[cRIO] Speed right motor: 193.5061798095703
[cRIO] Speed left motor: 260.82334899902344
[cRIO] Speed right motor: 194.8394317626953
[cRIO] Speed left motor: 265.56236267089844
[cRIO] Speed right motor: 190.74436950683594
[cRIO] Speed left motor: 265.70701599121094
[cRIO] Speed right motor: 193.4869842529297
[cRIO] Speed left motor: 260.8582305908203
[cRIO] Speed right motor: 187.61724853515625
[cRIO] Speed left motor: 275.3820495605469
[cRIO] Speed right motor: 191.75662231445312
[cRIO] Speed left motor: 266.61468505859375
[cRIO] Speed right motor: 191.19293212890625
[cRIO] Speed left motor: 266.90643310546875
[cRIO] Speed right motor: 192.80824279785156
[cRIO] Speed left motor: 263.9993896484375
[cRIO] Speed right motor: 186.48756408691406
[cRIO] Speed left motor: 256.5874786376953
[cRIO] Speed right motor: 185.644775390625
[cRIO] Speed left motor: 270.02760314941406
[cRIO] Speed right motor: 192.3141632080078
[cRIO] Speed left motor: 267.9326477050781
[cRIO] Speed right motor: 186.8536834716797
[cRIO] Speed left motor: 269.71034240722656
[cRIO] Speed right motor: 202.86109924316406
[cRIO] Speed left motor: 266.4872283935547
[cRIO] Speed right motor: 192.72254943847656
[cRIO] Speed left motor: 281.9070281982422
[cRIO] Speed right motor: 193.5541534423828
[cRIO] Speed left motor: 294.7461395263672
[cRIO] Speed right motor: 191.50254821777344
[cRIO] Speed left motor: 269.4682312011719
[cRIO] Speed right motor: 189.41119384765625
[cRIO] Speed left motor: 259.12608337402344
[cRIO] Speed right motor: 201.5098114013672
[cRIO] Speed left motor: 301.0676574707031
[cRIO] Speed right motor: 184.22503662109375
[cRIO] Speed left motor: 260.4230194091797
[cRIO] Speed right motor: 189.7242889404297
[cRIO] Speed left motor: 271.49290466308594
[cRIO] Speed right motor: 185.4154510498047
[cRIO] Speed left motor: 267.8223114013672
[cRIO] Speed right motor: 182.87826538085938
[cRIO] Speed left motor: 263.1448974609375
[cRIO] Speed right motor: 189.1266326904297
[cRIO] Speed left motor: 274.413818359375
[cRIO] Speed right motor: 194.08360290527344
[cRIO] Speed left motor: 259.57423400878906
[cRIO] Speed right motor: 193.75596618652344
[cRIO] Speed left motor: 261.13751220703125
[cRIO] Speed right motor: 189.91819763183594
[cRIO] Speed left motor: 270.66436767578125
[cRIO] Speed right motor: 193.52536010742188
[cRIO] Speed left motor: 271.4362487792969
[cRIO] Speed right motor: 184.54737854003906
[cRIO] Speed left motor: 262.6490020751953
[cRIO] Speed right motor: 194.87835693359375
[cRIO] Speed left motor: 267.49188232421875
[cRIO] Speed right motor: 181.92340087890625
[cRIO] Speed left motor: 269.28228759765625
[cRIO] Speed right motor: 188.9984130859375
[cRIO] Speed left motor: 266.85166931152344
[cRIO] Speed right motor: 184.32945251464844
[cRIO] Speed left motor: 270.4018096923828
[cRIO] Speed right motor: 190.5673828125
[cRIO] Speed left motor: 272.5166778564453
[cRIO] Speed right motor: 183.9818572998047
[cRIO] Speed left motor: 274.1824645996094
[cRIO] Speed right motor: 189.3744354248047
[cRIO] Speed left motor: 282.25364685058594
[cRIO] Speed right motor: 192.26678466796875
[cRIO] Speed left motor: 281.21632385253906
[cRIO] Speed right motor: 183.7998809814453
[cRIO] Speed left motor: 264.66184997558594
[cRIO] Speed right motor: 186.49649047851562
[cRIO] Speed left motor: 276.7687225341797
[cRIO] Speed right motor: 186.97006225585938
[cRIO] Speed left motor: 260.8407897949219
[cRIO] Speed right motor: 196.3590087890625
[cRIO] Speed left motor: 266.99774169921875
[cRIO] Speed right motor: 185.5388641357422
[cRIO] Speed left motor: 273.49070739746094
[cRIO] Speed right motor: 188.88864135742188
[cRIO] Speed left motor: 285.99774169921875
[cRIO] Speed right motor: 182.48486328125
[cRIO] Speed left motor: 263.5714569091797
[cRIO] Speed right motor: 184.88836669921875
[cRIO] Speed left motor: 276.9848175048828
[cRIO] Speed right motor: 187.84304809570312
[cRIO] Speed left motor: 265.7432098388672
[cRIO] Speed right motor: 182.83541870117188
[cRIO] Speed left motor: 264.7336730957031
[cRIO] Speed right motor: 185.4154510498047
[cRIO] Speed left motor: 277.6351013183594
[cRIO] Speed right motor: 184.2772216796875
[cRIO] Speed left motor: 293.3282470703125
[cRIO] Speed right motor: 196.14187622070312
[cRIO] Speed left motor: 282.151611328125
[cRIO] Speed right motor: 181.9658203125
[cRIO] Speed left motor: 294.0798034667969
[cRIO] Speed right motor: 182.96400451660156
[cRIO] Speed left motor: 273.56739807128906
[cRIO] Speed right motor: 184.54737854003906
[cRIO] Speed left motor: 260.7884979248047
[cRIO] Speed right motor: 189.02586364746094
[cRIO] Speed left motor: 270.21458435058594
[cRIO] Speed right motor: 186.67491149902344
[cRIO] Speed left motor: 264.76959228515625
[cRIO] Speed right motor: 185.93667602539062
[cRIO] Speed left motor: 263.80308532714844
[cRIO] Speed right motor: 188.3052978515625
[cRIO] Speed left motor: 275.11024475097656
[cRIO] Speed right motor: 184.32945251464844
[cRIO] Speed left motor: 260.82334899902344
[cRIO] Speed right motor: 187.3650360107422
[cRIO] Speed left motor: 261.18994140625
[cRIO] Speed right motor: 186.81788635253906
[cRIO] Speed left motor: 269.37522888183594
[cRIO] Speed right motor: 188.96180725097656
[cRIO] Speed left motor: 280.9329071044922
[cRIO] Speed right motor: 181.04563903808594
[cRIO] Speed left motor: 279.4642639160156
[cRIO] Speed right motor: 190.4279022216797
[cRIO] Speed left motor: 268.48565673828125
[cRIO] Speed right motor: 186.0164337158203
[cRIO] Speed left motor: 279.0845184326172
[cRIO] Speed right motor: 184.82708740234375
[cRIO] Speed left motor: 263.9636688232422
[cRIO] Speed right motor: 192.6749725341797
[cRIO] Speed left motor: 263.1271667480469
[cRIO] Speed right motor: 188.35983276367188
[cRIO] Speed left motor: 280.5895080566406
[cRIO] Speed right motor: 190.12173461914062
[cRIO] Speed left motor: 293.8141174316406
[cRIO] Speed right motor: 193.81370544433594
[cRIO] Speed left motor: 271.39849853515625
[cRIO] Speed right motor: 188.36892700195312
[cRIO] Speed left motor: 285.4746856689453
[cRIO] Speed right motor: 185.77734375
[cRIO] Speed left motor: 271.7008361816406
[cRIO] Speed right motor: 192.0775146484375
[cRIO] Speed left motor: 262.7197265625
[cRIO] Speed right motor: 189.65052795410156
[cRIO] Speed left motor: 289.24095153808594
[cRIO] Speed right motor: 182.9725799560547
[cRIO] Speed left motor: 284.7456359863281
[cRIO] Speed right motor: 189.28257751464844
[cRIO] Speed left motor: 271.7197570800781
[cRIO] Speed right motor: 184.22503662109375
[cRIO] Speed left motor: 269.99024963378906
[cRIO] Speed right motor: 190.39073181152344
[cRIO] Speed left motor: 260.45777893066406
[cRIO] Speed right motor: 182.3825225830078
[cRIO] Speed left motor: 286.71214294433594
[cRIO] Speed right motor: 192.63693237304688
[cRIO] Speed left motor: 263.1271667480469
[cRIO] Speed right motor: 185.69778442382812
[cRIO] Speed left motor: 268.37486267089844
[cRIO] Speed right motor: 186.17617797851562
[cRIO] Speed left motor: 259.62603759765625
[cRIO] Speed right motor: 188.52362060546875
[cRIO] Speed left motor: 278.60633850097656
[cRIO] Speed right motor: 186.6124267578125
[cRIO] Speed left motor: 272.3645324707031
[cRIO] Speed right motor: 189.89047241210938
[cRIO] Speed left motor: 259.4016876220703
[cRIO] Speed right motor: 186.69277954101562
[cRIO] Speed left motor: 261.03269958496094
[cRIO] Speed right motor: 192.89402770996094
[cRIO] Speed left motor: 257.0437927246094
[cRIO] Speed right motor: 182.5702362060547
[cRIO] Speed left motor: 292.33941650390625
[cRIO] Speed right motor: 187.22120666503906
[cRIO] Speed left motor: 261.9613952636719
[cRIO] Speed right motor: 182.39105224609375
[cRIO] Speed left motor: 270.5142822265625
[cRIO] Speed right motor: 185.13397216796875
[cRIO] Speed left motor: 254.56222534179688
[cRIO] Speed right motor: 183.8951416015625
[cRIO] Speed left motor: 270.5893096923828
[cRIO] Speed right motor: 189.61366271972656
[cRIO] Speed left motor: 281.86631774902344
[cRIO] Speed right motor: 189.66896057128906
[cRIO] Speed left motor: 281.9273986816406
[cRIO] Speed right motor: 186.9611053466797
[cRIO] Speed left motor: 263.0916748046875
[cRIO] Speed right motor: 189.5768280029297
[cRIO] Speed left motor: 262.5076599121094
[cRIO] Speed right motor: 182.2122039794922
[cRIO] Speed left motor: 277.536376953125
[cRIO] Speed right motor: 187.12245178222656
[cRIO] Speed left motor: 274.43312072753906
[cRIO] Speed right motor: 187.81590270996094
[cRIO] Speed left motor: 266.88818359375
[cRIO] Speed right motor: 191.61538696289062
[cRIO] Speed left motor: 279.78485107421875
[cRIO] Speed right motor: 189.8627471923828
[cRIO] Speed left motor: 259.5569610595703
[cRIO] Speed right motor: 196.27012634277344
[cRIO] Speed left motor: 269.4124298095703
[cRIO] Speed right motor: 184.00787353515625
[cRIO] Speed left motor: 285.95582580566406
[cRIO] Speed right motor: 186.22059631347656
[cRIO] Speed left motor: 267.1073913574219
[cRIO] Speed right motor: 195.65020751953125
[cRIO] Speed left motor: 278.36785888671875
[cRIO] Speed right motor: 190.69775390625
[cRIO] Speed left motor: 262.27830505371094
[cRIO] Speed right motor: 192.5894012451172
[cRIO] Speed left motor: 263.927978515625
[cRIO] Speed right motor: 182.50193786621094
[cRIO] Speed left motor: 267.73045349121094
[cRIO] Speed right motor: 196.21090698242188
[cRIO] Speed left motor: 268.9297180175781
[cRIO] Speed right motor: 184.7395782470703
[cRIO] Speed left motor: 265.54429626464844
[cRIO] Speed right motor: 188.3143768310547
[cRIO] Speed left motor: 277.12249755859375
[cRIO] Speed right motor: 188.6238555908203
[cRIO] Speed left motor: 281.3582458496094
[cRIO] Speed right motor: 184.10336303710938
[cRIO] Speed left motor: 280.7106170654297
[cRIO] Speed right motor: 193.79446411132812
[cRIO] Speed left motor: 267.67535400390625
[cRIO] Speed right motor: 192.89402770996094
[cRIO] Speed left motor: 269.8222351074219
[cRIO] Speed right motor: 195.49339294433594
[cRIO] Speed left motor: 262.0493469238281
[cRIO] Speed right motor: 194.8491668701172
[cRIO] Speed left motor: 279.0645751953125
[cRIO] Speed right motor: 194.354248046875
[cRIO] Speed left motor: 264.052978515625
[cRIO] Speed right motor: 194.24783325195312
[cRIO] Speed left motor: 259.59149169921875
[cRIO] Speed right motor: 189.59524536132812
[cRIO] Speed left motor: 272.82151794433594
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BUILD STOPPED (total time: 2 minutes 33 seconds)


Thanks for any help in figuring this out