Chief Delphi - Java CAN-Bus Issue

We have been having some trouble with the CANJaguars.
I have updated firmware, assigned IDs, and tested motors using BDC-Comm.

The problem lies in running the code. When I enable the robot, I get this:

Code:

[cRIO] NI-VISA Server 4.5 started successfully.

[cRIO] task 0xe63670 (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_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, Jan 17 2011, 16:12:19

[cRIO] 

[cRIO] [Squawk VM] Version: 2011 FRC, Jan 17 2011, 16:12:19

[cRIO] FPGA Hardware GUID: 0x2eaa5e59caf1a8a966853a011b61cc91

[cRIO] FPGA Software GUID: 0x2eaa5e59caf1a8a966853a011b61cc91

[cRIO] edu.wpi.first.wpilibj.can.CANNotInitializedException

[cRIO]     at edu.wpi.first.wpilibj.can.CANExceptionFactory.checkStatus(CANExceptionFactory.java:44)

[cRIO]     at edu.wpi.first.wpilibj.can.JaguarCANDriver.sendMessage(JaguarCANDriver.java:29)

[cRIO]     at edu.wpi.first.wpilibj.CANJaguar.sendMessage(CANJaguar.java:567)

[cRIO]     at edu.wpi.first.wpilibj.CANJaguar.getTransaction(CANJaguar.java:630)

[cRIO]     at edu.wpi.first.wpilibj.CANJaguar.getFirmwareVersion(CANJaguar.java:1192)

[cRIO]     at edu.wpi.first.wpilibj.CANJaguar.initCANJaguar(CANJaguar.java:240)

[cRIO]     at edu.wpi.first.wpilibj.CANJaguar.<init>(CANJaguar.java:267)

[cRIO]     at edu.wpi.first.wpilibj.templates.RobotTemplate.robotInit(RobotTemplate.java:30)

[cRIO]     at edu.wpi.first.wpilibj.IterativeRobot.startCompetition(IterativeRobot.java:73)

[cRIO]     at edu.wpi.first.wpilibj.RobotBase.startApp(RobotBase.java:154)

[cRIO]     in virtual method #10 of javax.microedition.midlet.MIDlet(bci=17)

[cRIO]     at javax.microedition.midlet.MIDletTunnelImpl.callStartApp(64)

[cRIO]     at com.sun.squawk.imp.MIDletMainWrapper.main(110)

[cRIO]     in virtual method #95 of com.sun.squawk.Klass(bci=25)

[cRIO]     at com.sun.squawk.Isolate.run(1506)

[cRIO]     at java.lang.Thread.run(231)

[cRIO]     in virtual method #47 of com.sun.squawk.VMThread(bci=42)

[cRIO]     in static method #3 of com.sun.squawk.VM(bci=6)

[cRIO] Default IterativeRobot.disabledInit() method... Overload me!

[cRIO] Default IterativeRobot.disabledContinuous() method... Overload me!

[cRIO] Default IterativeRobot.disabledPeriodic() method... Overload me!

[cRIO] Default IterativeRobot.teleopInit() method... Overload me!

[cRIO] java.lang.NullPointerException

[cRIO]     at edu.wpi.first.wpilibj.templates.RobotTemplate.teleopPeriodic(RobotTemplate.java:46)

[cRIO]     at edu.wpi.first.wpilibj.IterativeRobot.startCompetition(IterativeRobot.java:141)

[cRIO]     at edu.wpi.first.wpilibj.RobotBase.startApp(RobotBase.java:154)

[cRIO]     in virtual method #10 of javax.microedition.midlet.MIDlet(bci=17)

[cRIO]     at javax.microedition.midlet.MIDletTunnelImpl.callStartApp(64)

[cRIO]     at com.sun.squawk.imp.MIDletMainWrapper.main(110)

[cRIO]     in virtual method #95 of com.sun.squawk.Klass(bci=25)

[cRIO]     at com.sun.squawk.Isolate.run(1506)

[cRIO]     at java.lang.Thread.run(231)

[cRIO]     in virtual method #47 of com.sun.squawk.VMThread(bci=42)

[cRIO]     in static method #3 of com.sun.squawk.VM(bci=6)

[cRIO] Default IterativeRobot.teleopContinuous() method... Overload me!

[cRIO] java.lang.NullPointerException

[cRIO]     at edu.wpi.first.wpilibj.templates.RobotTemplate.teleopPeriodic(RobotTemplate.java:46)

[cRIO]     at edu.wpi.first.wpilibj.IterativeRobot.startCompetition(IterativeRobot.java:141)

[cRIO]     at edu.wpi.first.wpilibj.RobotBase.startApp(RobotBase.java:154)

[cRIO]     in virtual method #10 of javax.microedition.midlet.MIDlet(bci=17)

[cRIO]     at javax.microedition.midlet.MIDletTunnelImpl.callStartApp(64)

[cRIO]     at com.sun.squawk.imp.MIDletMainWrapper.main(110)

[cRIO]     in virtual method #95 of com.sun.squawk.Klass(bci=25)

[cRIO]     at com.sun.squawk.Isolate.run(1506)

[cRIO]     at java.lang.Thread.run(231)

[cRIO]     in virtual method #47 of com.sun.squawk.VMThread(bci=42)

[cRIO]     in static method #3 of com.sun.squawk.VM(bci=6)

[cRIO] java.lang.NullPointerException

[cRIO]     at edu.wpi.first.wpilibj.templates.RobotTemplate.teleopPeriodic(RobotTemplate.java:46)

[cRIO]     at edu.wpi.first.wpilibj.IterativeRobot.startCompetition(IterativeRobot.java:141)

[cRIO]     at edu.wpi.first.wpilibj.RobotBase.startApp(RobotBase.java:154)

[cRIO]     in virtual method #10 of javax.microedition.midlet.MIDlet(bci=17)

[cRIO]     at javax.microedition.midlet.MIDletTunnelImpl.callStartApp(64)

[cRIO]     at com.sun.squawk.imp.MIDletMainWrapper.main(110)

[cRIO]     in virtual method #95 of com.sun.squawk.Klass(bci=25)

[cRIO]     at com.sun.squawk.Isolate.run(1506)

[cRIO]     at java.lang.Thread.run(231)

[cRIO]     in virtual method #47 of com.sun.squawk.VMThread(bci=42)

[cRIO]     in static method #3 of com.sun.squawk.VM(bci=6)

NullPointerException repeats...

Here is my code:

Code:

/*----------------------------------------------------------------------------*/

/* 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.                                                               */

/*----------------------------------------------------------------------------*/



package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.IterativeRobot;

import edu.wpi.first.wpilibj.CANJaguar;

import edu.wpi.first.wpilibj.Joystick;

import edu.wpi.first.wpilibj.SpeedController;



/**

 * The VM is configured to automatically run this class, and to call the

 * functions corresponding to each mode, as described in the IterativeRobot

 * documentation. If you change the name of this class or the package after

 * creating this project, you must also update the manifest file in the resource

 * directory.

 */

public class RobotTemplate extends IterativeRobot {

   

    Joystick gp = new Joystick(1);  //GamePad

    CANJaguar leftA;

    CANJaguar leftB;

    CANJaguar rightA;

    CANJaguar rightB;

    public void robotInit() {

       try {

         leftA = new CANJaguar(2);

         leftB = new CANJaguar(3);

         rightA = new CANJaguar(4);

         rightB = new CANJaguar(5);

        } catch(Exception e) {

            e.printStackTrace();

        }



    }

    /**

     * This function is called periodically during operator control

     */

    public void teleopPeriodic() {

        try {

         //Tank Drive, Gamepad

         try {

            leftA.setX(gp.getRawAxis(2));

            leftB.setX(gp.getRawAxis(2));

            rightA.setX(gp.getRawAxis(4));

            rightB.setX(gp.getRawAxis(4));

         } catch(Exception e) {

             e.printStackTrace();

         }

        } catch (edu.wpi.first.wpilibj.can.CANNotInitializedException cnie) {

            cnie.printStackTrace();

        }

    }

    

}

Any help appreciated!