cRIO FRC_RobotTask error

[bob.wolff68]

I agree - most likely the use of a null pointer. As a general rule of C/C++ programming, this is a MUST -- check all pointers before using them. **ALSO** if you 'delete' a pointer, set that pointer to NULL afterwards as well. The programming is a little more 'verbose', but it is SAFER. Crashing in a real-time robot is the PITS.

For instance: (Writing a sample that should be rather 'real' but is from memory so may come with issues...this is intended to show the use of pointer checking -- not syntax and running code)

ColorImage* pImage;
pImage = NULL;
AxisCamera& cam=AxisCamera::GetInstance();
BinaryImage* pBin;
pBin = NULL;

while(IsOperatorControl())
{
  if (cam.IsFreshImage())
  {
    pImage = cam.GetImage();
    if (pImage)
    {
      pBin = pImage->ThresholdHSL(x,y,z,zz,p,d,NULL);
      if (pBin)
      {
        // Do something using pBin like particle report ...
      }
      else
        printf("ERROR: ThresholdHSL() failed.\n");
    }
    else
      printf("ERROR: GetImage() failed.\n");

    // Done with the image -- must dispose of it.
    // But *SHOULD* also reset it to NULL so it doesn't get used accidentally.
    if (pImage)
    {
      delete pImage;
      pImage = NULL;
    }

    // Done with the image -- must dispose of it.
    // But *SHOULD* also reset it to NULL so it doesn't get used accidentally.
    if (pBin)
    {
      delete pBin;
      pBin = NULL;
    }
  }
}