robotInit() not being called.

[danruff5]

We are working on our auto. But to get everything to run we have to enable it in telop first. Then we enable it in auto and it works fine.

I have done some testing and the I have found an issue where the robotInit() method was not being called. This was tested by just creating four Victors in it which where the drive motors. Then in auto I set all of them to some values to set them. If i put the Victor creation in the robotInit() constructor the robot throws the NullPointerException. If its otherwise it works.

I have read the API and thats what the robotIntit() method is for. So, I am not sure what is going on...

The robot is extended from SampleRobot because we have not learned the iterative robot.

[nandeeka]

Could you post your code? It will be easier for us to help you with more information.

[Poseidon5817]

Wouldn't it be easier to debug by just putting a print statement in robotInit() instead of driving and creating Talons?

[danruff5]

The rest of the code is on https://github.com/RenaissanceRobotics/RecycleRush2015

/* This is the revised code that has been polished, heavily tested and set for the competition.
 * THIS IS NOT FOR MODIFICATION UNLESS YOU HAVE MADE A COPY PRIOR TO THE COMPETITION.
 * MODIFYING THIS AT THE COMPETITION THE NIGHT BEFORE WILL RESULT IN A SEVERE $@#$@#$@# KICKING. DON'T DO IT.
 * Let's not repeat last year. 
 */

package org.usfirst.frc.team4525.robot;

import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.Gyro;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

public class Robot extends SampleRobot {
	/*
	 * IMPORTANT NOTES: We do not have D-PAD (POV) functionality presently with
	 * the XboxController class.
	 */

	// Control Systems | Mechanisms
	private XboxController xboxDrive, xboxMech;
	private DriveTrain driveSys;
	
	Victor one, two, three, four;

	public Talon winch, boom;

	// Sensors
	private Encoder leftEncoder, rightEncoder;
	private final double encoderPulses = 0.051;
	private DigitalInput boomBackSwitch;
	private DigitalInput boomFrontSwitch;
	private DigitalInput robotFrontTouch;
	private Gyro gyro;
	CameraServer cam;
	// private final double gyroSensitivity = 0.071;

	// Pneumatic Systems
	private Compressor compressor;
	private Piston claw, tilt;

	// Control Selection | Autonomous Selection
	private SendableChooser driveModeChooser;

	enum driveMode {
		ONE_DRIVER, TWO_DRIVER, TEST
	}

	private SendableChooser autoModeChooser;

	enum autoMode {
		FULL_OUT_FAR, FULL_OUT_CLOSE, GET_TOTE, NOTHING, KICK_THE_ROBOT, INIT_ERROR_FIX
	}

	enum Winch {
		UP(1.0), DOWN(-1.0), OFF(0.0);

		private final double value;

		Winch(double value) {
			this.value = value;
		}

		double get() {
			return this.value;
		}
	}

	enum Boom {
		FORWARD(-1.0), BACKWARD(1.0), OFF(0.0);

		private final double value;

		Boom(double value) {
			this.value = value;
		}

		double get() {
			return this.value;
		}
	}

	/*
	 * ROBOT CODE:
	 */

	// Initiation
	public Robot() {
		// Control Systems
		xboxDrive = new XboxController(0);
		xboxMech = new XboxController(1);
		/*driveSys = new DriveTrain(new Victor(0), new Victor(1), new Victor(2), new Victor(3));
		driveSys.setTurnSensitivity(0.75);
		driveSys.speedSensitivity(1.0);*/
		// = 'Mechanismsyui
		winch = new Talon(4);
		boom = new Talon(5);

		// Sensors
		leftEncoder = new Encoder(0, 1, false, EncodingType.k4X);
		rightEncoder = new Encoder(2, 3, true, EncodingType.k4X);
		boomBackSwitch = new DigitalInput(9); // End of boom
		boomFrontSwitch = new DigitalInput(8); // Front of boom
		robotFrontTouch = new DigitalInput(5); // Switch on front
		leftEncoder.setDistancePerPulse(encoderPulses);
		rightEncoder.setDistancePerPulse(encoderPulses);
		// Gyro Setup
		gyro = new Gyro(0);
		// Camera Setup
		// cam = CameraServer.getInstance();
		// cam.setQuality(30);
		// cam.startAutomaticCapture("cam0");

		// Pneumatics
		compressor = new Compressor(0);
		tilt = new Piston(0, 1, false); // Moves up down
		claw = new Piston(2, 3, true); // Grips/Ungrips

		// SmartDashboard | Data | Input
		driveModeChooser = new SendableChooser();
		driveModeChooser.addDefault("Dual Operators", driveMode.TWO_DRIVER);
		driveModeChooser.addObject("One Operator", driveMode.ONE_DRIVER);
		driveModeChooser.addObject("Testing", driveMode.TEST);
		SmartDashboard.putData("Driver Mode", driveModeChooser);

		autoModeChooser = new SendableChooser();
		autoModeChooser.addDefault("Bin Grab - Far Bump", autoMode.FULL_OUT_FAR);
		autoModeChooser.addDefault("Tote Grabber", autoMode.GET_TOTE);
		autoModeChooser.addObject("Do Nothing", autoMode.NOTHING);
		autoModeChooser.addObject("Kick The Robot Game", autoMode.KICK_THE_ROBOT);
		autoModeChooser.addObject("Init Error Fix", autoMode.INIT_ERROR_FIX);
		SmartDashboard.putData("Automiton Mode", autoModeChooser);

	}

	public void robotInit () {
		one = new Victor (0);
		two = new Victor (1);
		three = new Victor (2);
		four = new Victor (3);
	}
	
	public void autonomous() {
		compressor.start();
		/*driveSys.setControlSensitivity(1);
		driveSys.speedSensitivity(1);
		driveSys.setSkimReverse(false);*/
		//
		claw.retract();
		tilt.extend();
		gyro.reset();
		//
		autoMode mode = (autoMode) autoModeChooser.getSelected();
		if (mode == autoMode.INIT_ERROR_FIX) {
			while (isEnabled()) {
				double val = 0.5;
				one.set(val);
				two.set(val);
				three.set(-val);
				four.set(-val);
			}
		}
		else if (mode == autoMode.GET_TOTE) {
			tilt.retract();
			claw.extend();
		} else if (mode == autoMode.NOTHING) {
			// Nothing Mode
			claw.extend();
			winch.set(Winch.UP.get());
		} else if (mode == autoMode.KICK_THE_ROBOT) { // Gyro Test || Kick The
			// Robot
			while (isEnabled()) {
				driveDistance(75, 0.3, false);
				driveDistance(-75, -0.3, false);
			}
		} else if(mode == autoMode.FULL_OUT_CLOSE) { // Close Bump
			driveDistance(22, 0.35, true);
			// Boom Forward
			ArmMovements boomForward = new ArmMovements(boom, Boom.FORWARD.get(), boomBackSwitch, 0.5);
			Thread boomForwardThread = new Thread(boomForward);
			boomForwardThread.start();
			// Drop Claw
			ArmMovements dropClaw = new ArmMovements(winch, Winch.DOWN.get(), 3);
			Thread dropClawThread = new Thread(dropClaw);
			dropClawThread.start();
			// Go forwards
			driveDistanceOrLimit(86, 0.5, robotFrontTouch, false);
			while (!boomForward.isReady());
			// Grab bin
			claw.extend();
			Timer.delay(0.5);
			//
			winch.set(Winch.UP.get());
			Timer.delay(3);;
			// Back Arm off
			winch.set(Winch.OFF.get());
			
			
		} else {
			// Move Arm Forwards
			ArmMovements boomForward = new ArmMovements(boom, Boom.FORWARD.get(), boomBackSwitch, 0.5);
			Thread boomForwardThread = new Thread(boomForward);
			boomForwardThread.start();
			// Drive To
			driveDistance(50, 0.5, false);
			// Drop Arms
			ArmMovements dropClaw = new ArmMovements(winch, Winch.DOWN.get(), 3);
			Thread dropClawThread = new Thread(dropClaw);
			dropClawThread.start();
			// Go to bin
			driveDistanceOrLimit(53, 0.35, robotFrontTouch, true);
			// Extend Boom
			while (!boomForward.isReady());
			// Grab Bin
			claw.extend();
			Timer.delay(0.5);
			// Raise Winch
			winch.set(Winch.UP.get());
			Timer.delay(3);;
			// Back Arm off
			winch.set(Winch.OFF.get());
			// Back Arm off
			ArmMovements boomBackward = new ArmMovements(boom, Boom.BACKWARD.get(), boomFrontSwitch);
			Thread boomBackwardThread = new Thread(boomBackward);
			boomBackwardThread.start();
			// Hold up
			Timer.delay(0.25);
			// Back Off
			driveDistance(-15, -0.35, true);
			driveDistance(-20, -0.5, false);
			// Drop Winch
			ArmMovements winchDrop = new ArmMovements(winch, Winch.DOWN.get(), 3.5);
			Thread winchDropThread = new Thread(winchDrop);
			winchDropThread.start();
			// Back up more
			driveDistance(-11, 0.4, false);
			driveDistance(-4, 0.3, false);
			// Spin to 45 degrees
			Timer.delay(1.5);
			spinRobot(-30, 0.4);
			Timer.delay(0.5);
			driveDistance(-2,0.35,true);
			//claw.retract();
		}
	}

	public void operatorControl() {
		compressor.start();
		driveSys.setControlSensitivity(6);
		driveSys.setSkimReverse(true);
		driveSys.speedSensitivity(0.75);
		//
		driveMode mode = (driveMode) driveModeChooser.getSelected();
		double power, offset;
		if (mode == driveMode.ONE_DRIVER) { // One Driver
			while (isOperatorControl() && isEnabled()) {
				// Mechanism Movement
				// Up/Down
				if (xboxDrive.getAButton()) {
					winch.set(Winch.DOWN.get()); // Winch down
				} else if (xboxDrive.getYButton()) {
					winch.set(Winch.UP.get()); // Winch up
				} else {
					winch.set(Winch.OFF.get());
				}
				// In/Out
				if (xboxDrive.getRawButton(6) && boomBackSwitch.get()) {
					boom.set(Boom.FORWARD.get()); // Boom Out
				} else if (xboxDrive.getRawButton(5) && boomFrontSwitch.get()) {
					boom.set(Boom.BACKWARD.get()); // Boom In
				} else {
					boom.set(Boom.OFF.get());
				}

				// Pneumatics
				// Gripper
				if (xboxDrive.getXButton()) {
					tilt.extend();
				} else if (xboxDrive.getBButton()) {
					tilt.retract();
				}
				// Claw
				if (xboxDrive.getTrigger(XboxController.AxisType.kTriggerR)) {
					claw.extend();
				} else if (xboxDrive.getTrigger(XboxController.AxisType.kTriggerL)) {
					claw.retract();
				}
				// Solenoid Use
				tilt.countTime();
				claw.countTime();

				// Drive Controls
				driveSys.setSprint(xboxDrive.getRawButton(9));

				power = -xboxDrive.getAxis(XboxController.AxisType.kLeftY);
				offset = -xboxDrive.getAxis(XboxController.AxisType.kRightX);
				driveSys.arcadeDrive(power, offset);
			}
		} else { // Dual Drivers
			double mechUD, mechLR;
			while (isOperatorControl() && isEnabled()) {
				// Mechanism Movement
				// Up/Down Movement
				mechUD = -xboxMech.getAxis(XboxController.AxisType.kLeftY);
				// Left/Right Movement
				mechLR = xboxMech.getAxis(XboxController.AxisType.kRightY);
				// Modify Values

				if (mechUD > 0.6 && mechUD > 0) {
					mechUD = Winch.UP.get();
				} else if (mechUD < -0.6) {
					mechUD = Winch.DOWN.get();
				} else {
					mechUD = Winch.OFF.get();
				}
				if ((mechLR < 0.4 && mechLR > 0) || (mechLR > -0.4 && mechLR < 0))
					mechLR = 0;
				if (!boomBackSwitch.get() && mechLR < 0)
					mechLR = 0;
				if (!boomFrontSwitch.get() && mechLR > 0)
					mechLR = 0;

				// Pneumatics
				// Gripper
				if (xboxMech.getXButton()) {
					tilt.extend();
				} else if (xboxMech.getBButton()) {
					tilt.retract();
				}
				// Claw
				if (xboxMech.getTrigger(XboxController.AxisType.kTriggerR)) {
					claw.extend();
				} else if (xboxMech.getTrigger(XboxController.AxisType.kTriggerL)) {
					claw.retract();
				}
				// Solenoid Use
				tilt.countTime();
				claw.countTime();

				// Set the mechanisms
				winch.set(mechUD);
				boom.set(mechLR);

				// Drive Controls
				driveSys.setSprint(xboxDrive.getRawButton(9));

				power = -xboxDrive.getAxis(XboxController.AxisType.kLeftY);
				offset = -xboxDrive.getAxis(XboxController.AxisType.kRightX);
				driveSys.arcadeDrive(power, offset);
			}
		}

	}

	/**
	 * Runs during test mode
	 */
	public void test() {
	}

	// Our Own Methods
	private double encoderAverage(double e1, double e2) {
		return (e1 + e2) / 2;
	}

	private void driveStraitEncoders(double speed, double le, double re) {
		double offset = (le - re) * 0.05;
		if (offset > 0.04)
			offset = 0.04;
		if (offset < -0.04)
			offset = -0.04;
		driveSys.arcadeDrive(speed, offset);
	}

	private void driveStraitGyro(double speed) {
		double offset = gyro.getAngle() * 0.15;
		if (offset > 0.15 && offset > 0)
			offset = 0.15;
		if (offset < 0 && offset < -0.15)
			offset = -0.15;
		driveSys.arcadeDrive(speed, offset);
	}

	private void driveDistanceOrLimit(double distance, double speed, DigitalInput limitswitch, boolean useEncoders) {
		leftEncoder.reset();
		rightEncoder.reset();
		double le, re, count;
		count = 0;
		//
		if ((distance > 0 && speed < 0) || (distance < 0 && speed > 0)) speed = speed * -1;
		if (distance > 0) {
			while (limitswitch.get() && isEnabled() && count < distance) {
				le = leftEncoder.getDistance();
				re = rightEncoder.getDistance();
				count = encoderAverage(le, re);
				SmartDashboard.putNumber("Encoders_DOL", count);
				if (!useEncoders) {
					driveStraitGyro(speed);
				} else {
					driveStraitEncoders(speed, le, re);
				}
			}
		} else {
			while (limitswitch.get() && isEnabled() && count > distance) {
				le = leftEncoder.getDistance();
				re = rightEncoder.getDistance();
				count = encoderAverage(le, re);
				SmartDashboard.putNumber("Encoders_DOL", count);
				if (!useEncoders) {
					driveStraitGyro(speed);
				} else {
					driveStraitEncoders(speed, le, re);
				}
			}
		}
		driveSys.stop();
	}

	private void driveDistance(double distance, double speed, boolean useEncoders) {
		double count = 0;
		double le, re;
		leftEncoder.reset();
		rightEncoder.reset();
		count = 0;
		if (distance > 0) {
			if (speed < 0)
				speed = speed * -1;
			while (isEnabled() && count < distance) {
				le = leftEncoder.getDistance();
				re = rightEncoder.getDistance();
				count = encoderAverage(le, re);
				if (useEncoders) {
					driveStraitEncoders(speed, le, re);
				} else {
					driveStraitGyro(speed);
				}
			}
			driveSys.stop();
		} else if (distance < 0) {
			if (speed > 0)
				speed = speed * -1;
			while (isEnabled() && count > distance) {
				le = leftEncoder.getDistance();
				re = rightEncoder.getDistance();
				count = encoderAverage(le, re);
				if (useEncoders) {
					driveStraitEncoders(speed, le, re);
				} else {
					driveStraitGyro(speed);
				}
			}
			driveSys.stop();
		}
	}

	public void spinRobot(double degree, double speed) {
		double count = 0;
		double l = 0;
		double r = 0;
		gyro.reset();
		if (degree > 0 && speed < 0)
			speed = speed * -1;
		if (degree < 0) {
			r = -speed;
			l = speed;
		} else if (degree > 0) {
			l = -speed;
			r = speed;
		}
		if (speed > 0.3)
			degree = degree - 20;
		while (isEnabled() && (degree > 0 && count < degree) || (degree < 0 && count > degree)) {
			count = gyro.getAngle();
			driveSys.manualDrive(l, r);
		}
		driveSys.stop();
	}

}

[danruff5]

Originally Posted by Poseidon1671

Wouldn't it be easier to debug by just putting a print statement in robotInit() instead of driving and creating Talons?

That is true but our problem is that no motors worked but pistons did...

[Patrick Chiang]

I'll look into the source of SampleRobot later, but my guess is that robotInit() is called in the constructor in SampleRobot(). So when you override Robot() in your file, robotInit() doesn't get called any more. To fix that problem (if that were the problem), do super(); at the end of Robot().

[danruff5]

Originally Posted by Patrick Chiang

I'll look into the source of SampleRobot later, but my guess is that robotInit() is called in the constructor in SampleRobot(). So when you override Robot() in your file, robotInit() doesn't get called any more. To fix that problem (if that were the problem), do super(); at the end of Robot().

Thanks, I think something like this will help!