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!