Chief Delphi - nullPointer Error

EDIT: after already posting I realized I titled this wrong. I should have posted "Resource already allocated Error"

My github for the code I am having issues with is here.

I have finally pushed code to our board, and I have been getting errors back through the Riolog. The error:

Code:

ERROR Unhandled exception: java.lang.RuntimeException:  Code: -1029. HAL: Resource already allocated at [edu.wpi.first.wpilibj.hal.PWMJNI.allocatePWMChannel(Native Method), edu.wpi.first.wpilibj.PWM.initPWM(PWM.java:117), edu.wpi.first.wpilibj.PWM.<init>(PWM.java:134), edu.wpi.first.wpilibj.SafePWM.<init>(SafePWM.java:35), edu.wpi.first.wpilibj.Talon.<init>(Talon.java:51), edu.wpi.first.wpilibj.RobotDrive.<init>(RobotDrive.java:121), org.usfirst.frc.team2847.robot.subsystems.Drivetrain.<init>(Drivetrain.java:28), org.usfirst.frc.team2847.robot.Robot.robotInit(Robot.java:47), edu.wpi.first.wpilibj.IterativeRobot.startCompetition(IterativeRobot.java:72), edu.wpi.first.wpilibj.RobotBase.main(RobotBase.java:241)]

WARNING: Robots don't quit!

---> The startCompetition() method (or methods called by it) should have handled the exception above.

The Drivetrain subsystem can be found in the github or here is an excerpt:

Code:

package org.usfirst.frc.team2847.robot.subsystems;



import org.usfirst.frc.team2847.robot.Robot;

import org.usfirst.frc.team2847.robot.RobotMap;

import org.usfirst.frc.team2847.robot.commands.JoystickDrive;



import edu.wpi.first.wpilibj.RobotDrive;

import edu.wpi.first.wpilibj.command.PIDSubsystem;



/**

 *

 */

public class Drivetrain extends PIDSubsystem {



        // Initialize your subsystem here

        double[] greenAreasArray = {};

        double[] greenXArray = {};

        double[] greenYArray = {};



        double maxArea = 0;

        double greenX = 0;

        double greenY = 0;

        double offsetX;



        int arrayNum = 0;



        // create our drivetrain object

        RobotDrive driveTrain = new RobotDrive(RobotMap.frontLeftDrive, RobotMap.rearLeftDrive, RobotMap.frontRightDrive,

                        RobotMap.rearRightDrive);



        public Drivetrain() {

                // Use these to get going:

                // setSetpoint() - Sets where the PID controller should move the system

                // to

                // enable() - Enables the PID controller.

                super("Drivetrain", RobotMap.kDriveP, RobotMap.kDriveI, RobotMap.kDriveD);

                setPercentTolerance(5.0);

        }

        // Put methods for controlling this subsystem

        // here. Call these from Commands.



        public void initDefaultCommand() {

                // Set the default command for a subsystem here.

                setDefaultCommand(new JoystickDrive());

        }



        // make the method for our drivetrain

        public void manDrive(double leftValue, double rightValue) {

                driveTrain.tankDrive(leftValue, rightValue);

        }



        /*

         * starts a counter and for each item in the number array compares it to the

         * max value from before in the end of the loop we should have max = the

         * biggest value in our array we do this to find out which contour is our

         * target this should filter out any minor interference in the camera

         */

        public void findMaxArea() {

                Robot.table.getNumberArray("area", greenAreasArray);

                for (int counter = 0; counter < greenAreasArray.length; counter++) {

                        if (greenAreasArray[counter] > maxArea) {

                                maxArea = greenAreasArray[counter];

                                arrayNum = counter;

                        }

                }

                System.out.println(maxArea);

        }



        public void updateArea() {

                Robot.table.getNumberArray("area", greenAreasArray);

                findMaxArea();

        }



        public void useCenter() {

                this.updateArea();

                Robot.table.getNumberArray("centerX", greenXArray);

                Robot.table.putNumberArray("centerY", greenYArray);

                greenX = greenXArray[arrayNum];

                greenY = greenYArray[arrayNum];

        }



        public double offsetCalc() {

                this.useCenter();

                offsetX = 320 - greenX;

                return offsetX;

        }



        protected double returnPIDInput() {

                // Return your input value for the PID loop

                // e.g. a sensor, like a potentiometer:

                // yourPot.getAverageVoltage() / kYourMaxVoltage;

                return greenY;

        }



        protected void usePIDOutput(double output) {

                // Use output to drive your system, like a motor

                // e.g. yourMotor.set(output);

                if (offsetCalc() > 0) {

                        this.manDrive(output * (greenX / 320), output);

                } else if (offsetCalc() < 0) {

                        this.manDrive(output, output * (greenX / 320));

                } else {

                        this.manDrive(output, output);

                }

        }

}

My thought was that I had declared the drivetrain wrong, but I am not sure after trying a few different ways. Any help would be greatly appreciated :]