Main Robot Code NOT Working

[LFRobotics]

I uploaded this code to the robot and it won't work. Also a lot of the methods such as increment() and turnRight() in Chassis are "dead code" according to Eclipse. increment() and decrement() change the value of rspeed up and down.

Here is a link to the code on gitHub: https://github.com/LFRobotics/Robot2015

THANKS for the help!

[Joey1939]

Okay, two easy issues to fix.

1. Code taken from DriveTele.java

protected void execute() {
        Robot.base.mecanumDrive(
                (XBox.LEFTJOY_X+XBox.LEFTJOY_Y)/2,
                (XBox.LEFTJOY_Y-XBox.LEFTJOY_X)/2,
                -(XBox.LEFTJOY_Y-XBox.LEFTJOY_X)/2,
                -(XBox.LEFTJOY_X+XBox.LEFTJOY_Y)/2);
    }

Right here XBox.LEFTJOY_X is an enum. It will always be the same value (definition of an enum). It appears this enum represents the number of the left x axis. Instead you should access the actual value from the joystick with:

Robot.oi.joystick.getLeftJoyX();

2. Code taken from Chasis.java

public void initDefaultCommand() {
        // Set the default command for a subsystem here.
        //setDefaultCommand(new DriveTele());
    }

You need to uncomment "setDefaultCommand(new DriveTele());" to tell the Chasis the run the DriveTele command and make your robot move.


Also you said that increment() and decrement() are dead, but they are just commented out...

[Joe Ross]

The dead code is also caused by reading joystick constants, rather the joystick values.

XBox.RIGHTJOY_Y < 0 is always false, so the code in the if statement never executed and is thus dead code.

[LFRobotics]

I commented out one pair of increment/decrement methods but left the other pair - I was testing which one worked better.

So .LEFTJOY_X is enum but .LEFTJOY_Y is not - those are pointers to getRawAxis() in the XBox class - I will try that but I don't know if it will do anything.

Why is XBox.RIGHTJOY_Y < 0 always going to be false - dont joystick axis return values from -1 to 1? How else would I make a program that would change the robots speed using the right joysticks X axis on an XBox controller?

[Joey1939]

Originally Posted by LFRobotics

So .LEFTJOY_X is enum but .LEFTJOY_Y is not - those are pointers to getRawAxis() in the XBox class - I will try that but I don't know if it will do anything.

You need to use the methods in the class instead of the enum.

    public boolean getButtonA() {
     return getRawButton(A_BUTTON);
}
    
    public boolean getButtonB() {
        return getRawButton(B_BUTTON);
    }
    
    public boolean getButtonX() {
        return getRawButton(X_BUTTON);
    }
    
    public boolean getButtonY() {
        return getRawButton(Y_BUTTON);
    }
    
    public boolean getButtonRB() {
        return getRawButton(RB_BUTTON);
    }
    
    public boolean getButtonLB() {
        return getRawButton(LB_BUTTON);
    }
    
    public boolean getButtonRS() {
        return getRawButton(RS_BUTTON);
    }
    
    public boolean getButtonLS() {
        return getRawButton(LS_BUTTON);
    }
    
    public boolean getButtonStart() {
        return getRawButton(START_BUTTON);
    }
    
    public boolean getButtonBack() {
        return getRawButton(BACK_BUTTON);
    }
    
    public double getLeftJoyY() {
        return getRawAxis(LEFTJOY_Y);
    }
    
    public double getLeftJoyX() {
        return getRawAxis(LEFTJOY_X);
    }
    
    public double getRightJoyY() {
        return getRawAxis(RIGHTJOY_Y);
    }
    
    public double getRightJoyX(){
        return getRawAxis(RIGHTJOY_X);
    }
    
    public double getRightTrigger() {
        return -Math.min(getRawAxis(RIGHT_TRIGGER), 0);
    }
    
    public double getLeftTrigger() {
        return Math.max(getRawAxis(LEFT_TRIGGER), 0);
    }

The methods take the enum values that represent button and axis numbers and gets the actual feedback from the joystick.

[LFRobotics]

Okay I changed all that.

Here's the updated code: https://github.com/LFRobotics/Robot2015

But when I upload it the DriverStation puts out an error and says the robot has no code.

Eclipse Build Output:

Buildfile: C:\Users\Kristen\Documents\GitHub\Robot2015\build.xml
Trying to override old definition of task classloader
clean:
   [delete] Deleting directory C:\Users\Kristen\Documents\GitHub\Robot2015\build
   [delete] Deleting directory C:\Users\Kristen\Documents\GitHub\Robot2015\dist
compile:
    [mkdir] Created dir: C:\Users\Kristen\Documents\GitHub\Robot2015\build
     [echo] [athena-compile] Compiling src with classpath=C:\Users\Kristen/wpilib/java/current/lib/WPILib.jar:C:\Users\Kristen/wpilib/java/current/lib/NetworkTables.jar to build
    [javac] Compiling 12 source files to C:\Users\Kristen\Documents\GitHub\Robot2015\build
jar:
     [echo] [athena-jar] Making jar dist/FRCUserProgram.jar.
    [mkdir] Created dir: C:\Users\Kristen\Documents\GitHub\Robot2015\dist
    [mkdir] Created dir: C:\Users\Kristen\Documents\GitHub\Robot2015\build\jars
     [echo] [athena-jar] Copying jars from C:\Users\Kristen/wpilib/java/current/lib/WPILib.jar:C:\Users\Kristen/wpilib/java/current/lib/NetworkTables.jar to build/jars.
     [copy] Copying 2 files to C:\Users\Kristen\Documents\GitHub\Robot2015\build\jars
      [jar] Building jar: C:\Users\Kristen\Documents\GitHub\Robot2015\dist\FRCUserProgram.jar
get-target-ip:
     [echo] Trying Target: roboRIO-4623.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-4623.local:22
  [sshexec] cmd : test -d /usr/local/frc/JRE
deploy:
     [echo] [athena-deploy] Copying code over.
      [scp] Connecting to roboRIO-4623.local:22
      [scp] done.
      [scp] Connecting to roboRIO-4623.local:22
      [scp] done.
     [echo] [athena-deploy] Starting program.
  [sshexec] Connecting to roboRIO-4623.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 5656: No such process
BUILD SUCCESSFUL
Total time: 11 seconds

Driver Station Error:

ERROR Unhandled exception instantiating robot org.usfirst.frc.team4623.robot.Robot java.lang.ExceptionInInitializerError at [java.lang.Class.forName0(Native Method), java.lang.Class.forName(Class.java:259), edu.wpi.first.wpilibj.RobotBase.main(RobotBase.java:197)]

[LFRobotics]

I am trying everything but I can't get it to work.

[notmattlythgoe]

In your Chassis class you have a RobotDrive that is using the same channels as the 4 Jaguars you created. What you want to do is pass those 4 Jaguars into the RobotDrive constructor, not pass in the channels again.

roborDrive = new RobotDrive(frontLeftMotor, rearLeftMotor, frontRightMotor, rearRightMotor);