Java CAN-Bus Issue

[Jeremy Germita]

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:

[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:

/*----------------------------------------------------------------------------*/
/* 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!

[drakesword]

Is that the entire log?

I dont see where the can plugin is being loaded . . .

did you re-image the crio to v25 with the can plugin selected?

[Jeremy Germita]

That is an excerpt. I cut some out for space.
The plugin loads fine. I have reimaged it with the 2011 Serial to CAN driver, V25.

I am sure the cables are fine, as I have salvaged them from our Breakaway bot.

Everything is fine, up until the point where I enable the robot.

If you need any more info, I can try to do it again tomorrow.

Thanks In Advance!

[drakesword]

Originally Posted by jeremypg399

Everything is fine, up until the point where I enable the robot.

If you need any more info, I can try to do it again tomorrow.

Thanks In Advance!

If you look carefully one of the jags doesn't initialize properly which is called BEFORE you enable it. Are you sure your jags are numbered 2 3 4 5 instead of 1 2 3 4?

[Jeremy Germita]

I am 90% sure that I have them numbered 2-5. I will check when I am in our shop in a few hours. Thanks!

[jhersh]

Originally Posted by jeremypg399

[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)

The CANNotInitializedException means only one thing. The driver plugin is not registered with the system. Double check that you are actually loading the driver plugin.

-Joe

[Jeremy Germita]

Thanks you two. I've reimaged it and it works now!