[gixxy]

This year as part of our climber we want to hook up a Current Sensor to monitor when the motor hits the rung (to shut it off).

In my Subsystem I setup the sensor as an AnalogChannel on channel 1, However whenever I run said code it crashes and give a "Analog Channel 1 on Module 1 is already allocated. I have no idea why this is happening... Help is much appreciated!!!!

I will post the important files below, need anymore and I will gladly post them too.

Subsystem:

/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */
package edu.wpi.first.wpilibj.templates.subsystems;

import edu.wpi.first.wpilibj.AnalogChannel;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.templates.commands.PrintCurrent;

/**
 *
 * @author Gustave Michel
 */
public class CurrentDetector extends Subsystem {
    // Put methods for controlling this subsystem
    // here. Call these from Commands.
    AnalogChannel sensor;
    
    public CurrentDetector() {
        sensor = new AnalogChannel(2);
    }
    
    public void initDefaultCommand() {
        // Set the default command for a subsystem here.
        //setDefaultCommand(new MySpecialCommand());
        setDefaultCommand(new PrintCurrent());
    }
    
    public double get() {
        return sensor.getVoltage();
    }
}

CommandBase

package edu.wpi.first.wpilibj.templates.commands;

import edu.wpi.first.wpilibj.Gyro;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.templates.OI;
import edu.wpi.first.wpilibj.templates.subsystems.CurrentDetector;
import edu.wpi.first.wpilibj.templates.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj.templates.subsystems.SpikeLoad;

/**
 * The base for all commands. All atomic commands should subclass CommandBase.
 * CommandBase stores creates and stores each control system. To access a
 * subsystem elsewhere in your code in your code use CommandBase.exampleSubsystem
 * @author Author
 */
public abstract class CommandBase extends Command {

    public static OI oi;
    // Create a single static instance of all of your subsystems
    public static ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
    CurrentDetector currentDetector = new CurrentDetector();
    SpikeLoad spikeLoad = new SpikeLoad();
    
    public static void init() {
        // This MUST be here. If the OI creates Commands (which it very likely
        // will), constructing it during the construction of CommandBase (from
        // which commands extend), subsystems are not guaranteed to be
        // yet. Thus, their requires() statements may grab null pointers. Bad
        // news. Don't move it.
        oi = new OI();

        // Show what command your subsystem is running on the SmartDashboard
        SmartDashboard.putData(exampleSubsystem);
    }

    public CommandBase(String name) {
        super(name);
    }

    public CommandBase() {
        super();
    }
}

Command:

/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */
package edu.wpi.first.wpilibj.templates.commands;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

/**
 *
 * @author Gustave Michel
 */
public class PrintCurrent extends CommandBase {
    
    public PrintCurrent() {
        // Use requires() here to declare subsystem dependencies
        // eg. requires(chassis);
        requires(currentDetector);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        SmartDashboard.putNumber("CurrentDetector", currentDetector.get());
    }

    // Make this return true when this Command no longer needs to run execute()
    protected boolean isFinished() {
        return false;
    }

    // Called once after isFinished returns true
    protected void end() {
    }

    // Called when another command which requires one or more of the same
    // subsystems is scheduled to run
    protected void interrupted() {
    }
}