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Re: Error: "Could not instantiate robot"
There was an issue with the commented out code in Robot.java. You instantiated CANTalons in the various subsystems, then created more instances on the same CAN IDs in the commented code, which will cause the program to crash.
If you haven't tested since commenting that out, I would bet that was the issue. Otherwise though, everything looks fine to me (though I'm not the best at finding bugs just by reading code).
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