| Mr.Roboto3335 |
20-05-2015 21:09 |
Robot now not accepting code?
Hi, my team's robot isn't accepting any code at all. I've even tried using code that's previously succeeded. Is there anything wrong with the code? I even re imaged the roborio.
Code:
package org.usfirst.frc.team3335.robot;
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/* */
/* Written by The Lost King and his 25 slaves */
/*----------------------------------------------------------------------------*/
//import com.ni.vision.NIVision;
//import com.ni.vision.NIVision.Image;
//import com.ni.vision.NIVision.ImageType;
//import edu.java.ArtificialIntelligence;
//import edu.hell.SoulsOfTheDamned;
import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.Joystick.RumbleType;
//import edu.wpi.first.wpilibj.Joystick.AxisType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class Robot extends IterativeRobot {
private static final double maxSpeed = 0.5;
//private static final double ultraInchesPerVolt = 106.1391; // Circuit board
// = 0 in.
// Ultrasonic range is 7 in. to 76 in.
private double autoTimeStart;
private Compressor compressor;
private Relay relay;
private Solenoid solenoidOut;
private Solenoid solenoidIn;
private Joystick controller;
private RobotDrive myRobot;
private SpeedController mcBackLeft, mcFrontLeft, mcBackRight, mcFrontRight,
mcLift1, mcLift2;
//private BuiltInAccelerometer accel;
//private Gyro gyro;
// private CameraServer server;
//private Image image;
//private int niSession;
private DigitalInput limit, limit2;
//private AnalogInput ultrasonic;
//private AnalogInput gyroTest;
//private AnalogInput pressure;
private boolean hasExtended;
//private boolean useGyro;
double Kp = 0.03;
public void robotInit() {
joystickInit();
startCompressor();
sensorInit();
speedControllerInit();
robotDriveInit();
// cameraInit();
//accel = new BuiltInAccelerometer();
autoTimeStart = 0;
}
public void joystickInit() {
controller = new Joystick(0);
}
public void sensorInit() {
limit = new DigitalInput(0);
limit2 = new DigitalInput(1);
//ultrasonic = new AnalogInput(2);
//gyro = new Gyro(new AnalogInput(0));
//gyroTest = new AnalogInput(1);
//pressure = new AnalogInput(3);
//useGyro = true; // Manually set this variable to true to use gyro.
}
public void speedControllerInit() {
mcBackRight = new Victor(0);
mcFrontRight = new Victor(1);
mcBackLeft = new Victor(2);
mcFrontLeft = new Victor(3);
mcLift1 = new Talon(4);
mcLift2 = new Talon(5);
}
public void robotDriveInit() {
myRobot = new RobotDrive(mcBackLeft, mcFrontLeft, mcBackRight,
mcFrontRight);
}
public void startCompressor() {
solenoidIn = new Solenoid(0);
solenoidOut = new Solenoid(1); // Pneumatics
relay = new Relay(0);
relay.set(Relay.Value.kOff);
compressor = new Compressor(2);
}
/*public void cameraInit() {
server = CameraServer.getInstance();
server.setQuality(50);
image = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
niSession = NIVision.IMAQdxOpenCamera("cam0",
NIVision.IMAQdxCameraControlMode.CameraControlModeController);
NIVision.IMAQdxConfigureGrab(niSession);
}*/
public void autonomousInit() {
autoTimeStart = Timer.getFPGATimestamp();
//gyro.reset();
}
public void autonomousPeriodic() {
//double angle = gyro.getAngle();
double autoTimeCurr = Timer.getFPGATimestamp() - autoTimeStart;
if (autoTimeCurr <= 0.5) {
solenoidIn.set(true);
} else if (autoTimeCurr <= 2 && !limit.get()) {
mcLift1.set(0.7);
} else if (autoTimeCurr <= 4) {
//myRobot.drive(-1.0, -angle * Kp);
}
SmartDashboard.putString("DB/String 1",
String.format("%.3f", autoTimeCurr));
// SUPER DUPER AUTONOMOUS
}
public void teleopInit() {
//NIVision.IMAQdxStartAcquisition(niSession);
//gyro.reset();
}
public void teleopPeriodic() {
if (controller.getRawButton(9)) {
controller.setRumble(RumbleType.kLeftRumble, 1);
controller.setRumble(RumbleType.kRightRumble, 1);
//gyro.reset();
} else {
controller.setRumble(RumbleType.kLeftRumble, 0);
controller.setRumble(RumbleType.kRightRumble, 0);
}
// NIVision.IMAQdxGrab(niSession, image, 1);
// server.setImage(image);
double x = getDeadZone(controller.getAxis(Joystick.AxisType.kX), 0.15);
double y = getDeadZone(controller.getAxis(Joystick.AxisType.kY), 0.15);
double r = getDeadZone(controller.getRawAxis(4) * 1, 0.15);
mcFrontLeft.set(normalize(-x + y - r) * maxSpeed);
mcBackRight.set(normalize(-x + y + r) * maxSpeed);
mcBackLeft.set(normalize(-x - y + r) * maxSpeed);
mcFrontRight.set(normalize(x + y + r) * maxSpeed);
//double joystickAngle = Math.toDegrees(-Math.atan2(-y, x)) + 90;
//joystickAngle = (joystickAngle % 360 + 360) % 360;
//if (useGyro) {
//mcFrontLeft.set(-normalize(Math.hypot(-y, x)
// * joystickFunction(joystickAngle - gyro.getAngle()) + r)
//* maxSpeed);
//mcFrontRight.set(-normalize(Math.hypot(-y, x)
//* joystickFunction(-joystickAngle + gyro.getAngle()) - r)
//* maxSpeed);
//mcBackLeft.set(normalize(Math.hypot(-y, x)
//* joystickFunction(-joystickAngle + gyro.getAngle()) + r)
//* maxSpeed);
//mcBackRight.set(-normalize(Math.hypot(-y, x)
//* joystickFunction(joystickAngle - gyro.getAngle()) - r)
//* maxSpeed);
//} else {
//mcFrontLeft.set(-normalize(Math.hypot(-y, x)
//* joystickFunction(joystickAngle) + r)
//* maxSpeed);
//mcFrontRight.set(-normalize(Math.hypot(-y, x)
//* joystickFunction(-joystickAngle) - r)
// * maxSpeed);
//mcBackLeft.set(normalize(Math.hypot(-y, x)
//* joystickFunction(-joystickAngle) + r)
// * maxSpeed);
//mcBackRight.set(-normalize(Math.hypot(-y, x)
// * joystickFunction(joystickAngle) - r)
// * maxSpeed);
//}
//if (pressure.getVoltage() < 3) {
//relay.set(Relay.Value.kReverse);
//} else {
//relay.set(Relay.Value.kOff);
//}
if (controller.getRawButton(8)) {
relay.set(Relay.Value.kReverse);
} else if (controller.getRawButton(7)) {
relay.set(Relay.Value.kOff);
}
// Pneumatics:
if (controller.getRawButton(2) && hasExtended) {
solenoidOut.set(true);
solenoidIn.set(false);
hasExtended = false;
} else if (controller.getRawButton(1) && !hasExtended) {
solenoidOut.set(false);
solenoidIn.set(true);
hasExtended = true;
} else {
solenoidOut.set(false);
solenoidIn.set(false);
}
if (controller.getRawButton(5) && controller.getRawButton(6)) {
mcLift1.set(0);
mcLift2.set(0);
} else if (controller.getRawButton(6) && !limit.get()) {
relay.set(Relay.Value.kOff);
mcLift1.set(1.0);
mcLift2.set(1.0);
} else if (controller.getRawButton(5) && !limit2.get()) {
relay.set(Relay.Value.kOff);
mcLift1.set(-0.4);
mcLift2.set(-0.4);
} else {
if (controller.getRawButton(8)) {
relay.set(Relay.Value.kReverse);
} else if (controller.getRawButton(7)) {
relay.set(Relay.Value.kOff);
}
mcLift1.set(0);
mcLift2.set(0);
}
//SmartDashboard
// .putString(
// "DB/String 0",
// String.format("Ultrasonic Volt: %.4f",
// ultrasonic.getVoltage()));
SmartDashboard.putString("DB/String 1",
String.format("D-Pad: %d", controller.getPOV()));
SmartDashboard.putString("DB/String 2",
String.format("Axis X: %.4f", controller.getAxis(AxisType.kX)));
SmartDashboard.putString("DB/String 3",
String.format("Axis Y: %.4f", controller.getAxis(AxisType.kY)));
SmartDashboard.putString("DB/String 4",
String.format("Turn Axis: %.4f", controller.getRawAxis(4)));
//SmartDashboard.putString(
// "DB/String 5",
//String.format("Distance: %.4f", ultrasonic.getVoltage()
// * ultraInchesPerVolt));
// SmartDashboard.putString("DB/String 6",
// String.format("Gyro: %.4f", gyro.getAngle()));
//SmartDashboard.putString("DB/String 7",
// String.format("Gyro Rate: %.4f", gyro.getRate()));
// SmartDashboard.putString("DB/String 8",
// String.format("Gyro Test: %.4f", gyroTest.getVoltage()));
//SmartDashboard.putString("DB/String 9",
// String.format("Pressure: %.4f", pressure.getVoltage()));
//SmartDashboard.putString("DB/String 8",
// String.format("%.3f", joystickAngle));
}
//
public void disabledInit() {
// NIVision.IMAQdxStopAcquisition(niSession);
SmartDashboard.putString("DB/String 0", "");
SmartDashboard.putString("DB/String 1", "");
SmartDashboard.putString("DB/String 2", "");
SmartDashboard.putString("DB/String 3", "");
SmartDashboard.putString("DB/String 4", "");
SmartDashboard.putString("DB/String 5", "");
SmartDashboard.putString("DB/String 6", "");
SmartDashboard.putString("DB/String 7", "");
SmartDashboard.putString("DB/String 8", "");
SmartDashboard.putString("DB/String 9", "");
solenoidIn.set(false);
solenoidOut.set(false);
}
public void testPeriodic() {
SmartDashboard.putString("DB/String 2",
String.format("Axis X: %.4f", controller.getAxis(AxisType.kX)));
SmartDashboard.putString("DB/String 3",
String.format("Axis Y: %.4f", controller.getAxis(AxisType.kY)));
SmartDashboard.putString("DB/String 4",
String.format("Turn Axis: %.4f", controller.getRawAxis(4)));
double x = getDeadZone(controller.getAxis(Joystick.AxisType.kX), 0.15);
double y = getDeadZone(controller.getAxis(Joystick.AxisType.kY), 0.15);
double joystickAngle = Math.toDegrees(-Math.atan2(-y, x)) + 90;
SmartDashboard.putString("DB/String 8",
String.format("%.3f", joystickAngle));
}
public double getDeadZone(double axis, double zone) {
return Math.abs(axis) > zone ? axis : 0;
}
public double joystickFunction(double angle) {
angle = (angle % 360 + 360) % 360;
if (0 <= angle && angle < 90)
return 1;
else if (90 <= angle && angle < 180)
return -Math.cos(Math.toRadians(2 * angle));
else if (180 <= angle && angle < 270)
return -1;
else
return Math.cos(Math.toRadians(2 * angle));
}
public double normalize(double value) {
return Math.min(1, Math.max(-1, value));
}
}
And here's what's coming out of the driver station
Code:
Unhandled exception: VisionException [com.ni.vision.VisionException: IMAQdxError: -1074360311: Camera not found] at [com.ni.vision.NIVision._IMAQdxOpenCamera(Native Method), com.ni.vision.NIVision.IMAQdxOpenCamera(NIVision.java:24455), org.usfirst.frc.team3335.robot.Robot.cameraInit(Robot.java:108), org.usfirst.frc.team3335.robot.Robot.robotInit(Robot.java:62), edu.wpi.first.wpilibj.IterativeRobot.startCompetition(IterativeRobot.java:76), edu.wpi.first.wpilibj.RobotBase.main(RobotBase.java:234)]
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