Hello again, I am a member of team 4528 and recently we ran into some issues with putting code into the roboRio. Since then we have called National Instruments and re-imaged the roboRio and re-installed the java 8 jdk. We initially thought that this would clear the roboRio and that it would work again since we heard that we may have caused the code to crash by building conflicting codes. However even after the wipe the following error appeared in the DriverStation logs:
Code:
ERROR Unhandled exception instantiating robot org.usfirst.frc.team4528.robot.Robot java.lang.ClassNotFoundException: org.usfirst.frc.team4528.robot.Robot at [java.net.URLClassLoader$1.run(URLClassLoader.java:372), java.net.URLClassLoader$1.run(URLClassLoader.java:361), java.security.AccessController.doPrivileged(Native Method), java.net.URLClassLoader.findClass(URLClassLoader.java:360), java.lang.ClassLoader.loadClass(ClassLoader.java:424), sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:308), java.lang.ClassLoader.loadClass(ClassLoader.java:357), java.lang.Class.forName0(Native Method), java.lang.Class.forName(Class.java:259), edu.wpi.first.wpilibj.RobotBase.main(RobotBase.java:197)]
The eclipse compiler says that the build was successful, but then this message shows up in the eclipse compiler:
Code:
Buildfile: C:\Users\Developer\workspace\FRC2015\build.xml
Trying to override old definition of task classloader
clean:
[delete] Deleting directory C:\Users\Developer\workspace\FRC2015\build
[delete] Deleting directory C:\Users\Developer\workspace\FRC2015\dist
compile:
[mkdir] Created dir: C:\Users\Developer\workspace\FRC2015\build
[echo] [athena-compile] Compiling src with classpath=C:\Users\Developer/wpilib/java/current/lib/WPILib.jar:C:\Users\Developer/wpilib/java/current/lib/NetworkTables.jar to build
[javac] Compiling 2 source files to C:\Users\Developer\workspace\FRC2015\build
jar:
[echo] [athena-jar] Making jar dist/FRCUserProgram.jar.
[mkdir] Created dir: C:\Users\Developer\workspace\FRC2015\dist
[mkdir] Created dir: C:\Users\Developer\workspace\FRC2015\build\jars
[echo] [athena-jar] Copying jars from C:\Users\Developer/wpilib/java/current/lib/WPILib.jar:C:\Users\Developer/wpilib/java/current/lib/NetworkTables.jar to build/jars.
[copy] Copying 2 files to C:\Users\Developer\workspace\FRC2015\build\jars
[jar] Building jar: C:\Users\Developer\workspace\FRC2015\dist\FRCUserProgram.jar
get-target-ip:
[echo] Trying Target: roboRIO-4528.local
[echo] roboRIO found via mDNS
dependencies:
[echo] roboRIO image version validated
[echo] Checking for JRE. If this fails install the JRE using these instructions: https://wpilib.screenstepslive.com/s/4485/m/13503/l/288822-installing-java-8-on-the-roborio-using-the-frc-roborio-java-installer-java-only
[sshexec] Connecting to roboRIO-4528.local:22
[sshexec] cmd : test -d /usr/local/frc/JRE
deploy:
[echo] [athena-deploy] Copying code over.
[scp] Connecting to roboRIO-4528.local:22
[scp] done.
[scp] Connecting to roboRIO-4528.local:22
[scp] done.
[echo] [athena-deploy] Starting program.
[sshexec] Connecting to roboRIO-4528.local:22
[sshexec] cmd : . /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r;
[sshexec] start-stop-daemon: warning: killing process 1470: No such process
BUILD SUCCESSFUL
Total time: 25 seconds
For those of you who are interested in our code these are the ones we used:
Note: we are using code that was previously functional.
Code:
package org.usfirst.frc.team4528.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.Timer;
public class Robot15 extends SampleRobot {
Victor frontLeft;
Victor rearLeft;
Victor frontRight;
Victor rearRight;
Victor motor; //add-on
RobotDrive myRobot; // class that handles basic drive operations
XBoxJoystick gamepad; // declare gamepad as a Joystick object to get Joystick functionality, but with different buttons
public void Robot()
{
frontLeft = new Victor(9); //change port to appropriate PWM port on roboRIO
rearLeft = new Victor(8); //change port to appropriate PWM port on roboRIO
frontRight = new Victor(7); //change port to appropriate PWM port on roboRIO
rearRight = new Victor(6); //change port to appropriate PWM port on roboRIO
motor = new Victor(5); //add-on
myRobot = new RobotDrive(frontLeft, rearLeft, frontRight, rearRight); // robot drivetrain functionality; takes in front left motor, rear left motor, front right motor, rear right motor ports
gamepad = new XBoxJoystick(0); // port gamepad is plugged into
}
//add-on
public void runMotor()
{
if(gamepad.getLeftZ() > 0)
{
motor.set(gamepad.getLeftZ());
}
else if(gamepad.getRightZ() > 0)
{
motor.set(-gamepad.getRightZ());
}
else
{
motor.set(0.0);
}
}
//end of...
/**
* Runs the motors with tank steering.
*/
public void operatorControl()
{
myRobot.setSafetyEnabled(false);
while (isOperatorControl() && isEnabled())
{
//myRobot.tankDrive(gametpad.getLeftY(), gamepad.getRightY());
myRobot.tankDrive(gamepad.getRightY(), gamepad.getLeftY());
Timer.delay(0.005); // wait for a motor update time
gamepad.getAButton();
runMotor();
}
}
}
Code:
package org.usfirst.frc.team4528.robot;
import edu.wpi.first.wpilibj.Joystick;
public class XBoxJoystick {
private Joystick joystick;
private int port;
private final double DEAD_ZONE = 0.08; // Chief Delphi said 0.05;
public XBoxJoystick(int port) {
this.port = port;
this.joystick = new Joystick(port);
}
public double getLeftX() {
return correctDeadSpot(joystick.getRawAxis(0));
}
public double getLeftY() {
return correctDeadSpot(joystick.getRawAxis(1));
}
public double getLeftZ() {
return joystick.getRawAxis(2);
}
public double getRightZ()
{
return joystick.getRawAxis(3);
}
public double getRightX() {
return correctDeadSpot(joystick.getRawAxis(4));
}
public double getRightY() {
return correctDeadSpot(joystick.getRawAxis(5));
}
public double getDpadX() {
return joystick.getRawAxis(6);
}
// WARNING this doesn't work with vanilla driver station
public double getDpadY() {
return joystick.getRawAxis(7);
}
public boolean getAButton() {
return getButton(1);
}
public boolean getBButton() {
return getButton(2);
}
public boolean getXButton() {
return getButton(3);
}
public boolean getYButton() {
return getButton(4);
}
public boolean getLBButton() {
return getButton(5);
}
public boolean getRBButton() {
return getButton(6);
}
public boolean getBackButton() {
return getButton(7);
}
public boolean getStartButton() {
return getButton(8);
}
public boolean getLSButton() {
return getButton(9);
}
public boolean getRSButton() {
return getButton(10);
}
private double correctDeadSpot(double value) {
if (Math.abs(value) < DEAD_ZONE)
return 0;
return value;
}
private boolean getButton(int buttonNumber) {
return joystick.getRawButton(buttonNumber);
}
}
I would really appreciate if someone could explain what I did wrong and how I can fix it. I tried looking at the RobotBase.class from wpilib but couldn't really understand it, all I could gather was that the code allowed the program to compile despite some errors that normally would be caught by the compiler. Thanks in advance for the help and sorry for the long post
.
You should always do CAD no matter how you plan on having parts made. - Garret [more] 
10-02-2015, 23:14
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