[FTC]: (Android Studio) User code threw an uncaught exception: NullPointerException

[Fedoros]

Hello, world! I'm new to android studio and text based programming in general. I've used the K9Teleop as a template for our robot's code, and whenever I attempt to run it using the Driver Station and Robot Controller, I get the following message:

Error: User code threw an uncaught exception: NullPointerException

I'm assuming this is due to an error in my code not caught by android's debugging system. I looked through it for an hour or so and can't find any errors. Here is what I've written:

package com.qualcomm.ftcrobotcontroller.opmodes;

import com.qualcomm.robotcore.eventloop.opmode.OpMode;
import com.qualcomm.robotcore.hardware.DcMotor;
import com.qualcomm.robotcore.hardware.Servo;
import com.qualcomm.robotcore.util.Range;

/**
 * Created by Parker on 11/19/2015.
 */

public class TeleOp1 extends OpMode {

    /*
     * Note: the configuration of the servos is such that
     * as the scoopGate servo approaches 0, the scoopGate position moves up (away from the floor).
     * Also, as the mexicanHand servo approaches 0, the mexicanHand opens up (drops the game element).
     */
    // TETRIX VALUES.
    final static double scoopGate_MIN_RANGE = 0;
    final static double scoopGate_MAX_RANGE = 1;
    final static double mexicanHand_MIN_RANGE = 0;
    final static double mexicanHand_MAX_RANGE = 1;

    // position of the scoopGate servo.
    double scoopGatePosition;

    // amount to change the scoopGate servo position.
    double scoopGateDelta = 1;

    // position of the mexicanHand servo
    double mexicanHandPosition;

    // amount to change the mexicanHand servo position by
    double mexicanHandDelta = 1;

    DcMotor driveRight;
    DcMotor driveLeft;

    DcMotor scoopArm;
    DcMotor scoopIntake;
    Servo scoopGate;

    DcMotor liftScissor;
    DcMotor liftWinch;

    Servo mexicanHand;

    /**
     * Constructor
     */
    public TeleOp1() {

    }

    /*
     * Code to run when the op mode is first enabled goes here
     *
     * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#start()
     */
    @Override
    public void init() {
		/*
		 * Use the hardwareMap to get the dc motors and servos by name. Note
		 * that the names of the devices must match the names used when you
		 * configured your robot and created the configuration file.
		 */

        driveRight = hardwareMap.dcMotor.get("motor_2");
        driveLeft = hardwareMap.dcMotor.get("motor_1");
        driveLeft.setDirection(DcMotor.Direction.REVERSE);

        scoopArm = hardwareMap.dcMotor.get("motor_3");
        scoopIntake = hardwareMap.dcMotor.get("motor_4");
        scoopGate = hardwareMap.servo.get("servo_1");
        liftWinch = hardwareMap.dcMotor.get("motor_6");


        mexicanHand = hardwareMap.servo.get("servo_2");

        // assign the starting position of the scoopGate and mexicanHand
        scoopGatePosition = 0;
        mexicanHandPosition = 0;
    }

    /*
     * This method will be called repeatedly in a loop
     *
     * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#run()
     */
    @Override
    public void loop() {

		/*
		 * Gamepad 1
		 *
		 * Gamepad 1 controls the motors via the left and right sticks
		 */

        // tank drive
        // note that if y equal -1 then joystick is pushed all of the way forward.
        float left = -gamepad1.left_stick_y;
        float right = -gamepad1.right_stick_y;

        // clip the right/left values so that the values never exceed +/- 1
        right = Range.clip(right, -1, 1);
        left = Range.clip(left, -1, 1);

        // scale the joystick value to make it easier to control
        // the robot more precisely at slower speeds.
        right = (float)scaleInput(right);
        left =  (float)scaleInput(left);

        // write the values to the motors
        driveRight.setPower(right);
        driveLeft.setPower(left);

        /*
		 * Gamepad 2
		 *
		 * Gamepad 2 controls the motors via the left stick, and it controls the
		 * scoopGate/mexicanHand via the dpad_down, dpad_up/a, b buttons
		 */

        // define leftBumper and rightBumper as boolean variables on gamepad2
        boolean leftBumper = gamepad2.left_bumper;
        boolean rightBumper = gamepad2.right_bumper;

        // update the direction of the liftWinch
        if (leftBumper) {
            // if the right_bumper on gamepad 2 is pushed, extend the liftWinch
            liftWinch.setPower(1);
        } else {
                liftWinch.setPower (0);
        }


        if (rightBumper) {
            // if the right_bumper on gamepad 2 is pushed, retract the liftWinch
            liftWinch.setPower(-1);
        } else {
                liftWinch.setPower(0);
        }

        // define leftTrigger and rightTrigger as float variables on gamepad2
        float leftTrigger = -gamepad2.left_trigger;
        float rightTrigger = gamepad2.right_trigger;

        // clip the trigger values so that the values never exceed +/- 1
        leftTrigger = Range.clip(leftTrigger, -1, 1);
        rightTrigger = Range.clip(rightTrigger, -1, 1);

        // scale the trigger values to make it easier to control
        // the scissor lift
        leftTrigger = (float)scaleInput(leftTrigger);
        rightTrigger =  (float)scaleInput(rightTrigger);

        // write the values to the motors
        liftScissor.setPower(leftTrigger);
        liftScissor.setPower(rightTrigger);

        // update the direction of the scoopIntake
        if (gamepad2.a) {
            // if the A button is pushed on gamepad2, spin the scoopIntake inwards
            scoopIntake.setPower(1);
        } else {
                scoopIntake.setPower(0);
        }

        if (gamepad2.b) {
            // if the B button is pushed on gamepad2, spin the scoopIntake outwards
            scoopIntake.setPower(-1);
        } else {
                scoopIntake.setPower(0);
        }

        // update the position of the scoopArm
        if (gamepad2.dpad_left) {
            // if the dpad_left button is pushed on gamepad 2, move the scoopArm in
            scoopArm.setPower(-0.5);
        } else {
                scoopArm.setPower(0);
        }

        if (gamepad2.dpad_right) {
            // if the dpad_right button is pushed on gamepad 2, move the scoopArm out
            scoopArm.setPower(0.5);
        } else {
                scoopArm.setPower(0);
        }

        // update the position of the scoopGate.
        if (gamepad2.dpad_up) {
            // if the dpad_up button is pushed on gamepad2, increment the position of
            // the scoopGate servo.
            scoopGatePosition += scoopGateDelta;
        }

        if (gamepad2.dpad_down) {
            // if the dpad_down button is pushed on gamepad2, decrease the position of
            // the scoopGate servo.
            scoopGatePosition -= scoopGateDelta;
        }

        // update the position of the mexicanHand
        if (gamepad2.y) {
            // if the Y button is pushed on gamepad2, increment the position of
            // the mexicanHandPosition
            mexicanHandPosition += mexicanHandDelta;
        }

        if (gamepad2.x) {
            // if the X button is pushed on gamepad2, decrease the position of
            // the mexicanHandPosition
            mexicanHandPosition -= mexicanHandDelta;
        }

        // clip the position values so that they never exceed their allowed range.
        scoopGatePosition = Range.clip(scoopGatePosition, scoopGate_MIN_RANGE, scoopGate_MAX_RANGE);
        mexicanHandPosition = Range.clip(mexicanHandPosition, mexicanHand_MIN_RANGE, mexicanHand_MAX_RANGE);

        // write position values to the scoopGate and mexicanHand servo
        scoopGate.setPosition(scoopGatePosition);
        mexicanHand.setPosition(mexicanHandPosition);

		/*
		 * Send telemetry data back to driver station. Note that if we are using
		 * a legacy NXT-compatible motor controller, then the getPower() method
		 * will return a null value. The legacy NXT-compatible motor controllers
		 * are currently write only.
		 */

        telemetry.addData("Text", "*** Robot Data***");
        telemetry.addData("scoopGate", "scoopGate:  " + String.format("%.2f", scoopGatePosition));
        telemetry.addData("mexicanHand", "mexicanHand:  " + String.format("%.2f", mexicanHandPosition));
        telemetry.addData("left tgt pwr",  "left  pwr: " + String.format("%.2f", left));
        telemetry.addData("right tgt pwr", "right pwr: " + String.format("%.2f", right));
    }

    /*
     * Code to run when the op mode is first disabled goes here
     *
     * @see com.qualcomm.robotcore.eventloop.opmode.OpMode#stop()
     */
    @Override
    public void stop() {

    }

    /*
     * This method scales the joystick input so for low joystick values, the
     * scaled value is less than linear.  This is to make it easier to drive
     * the robot more precisely at slower speeds.
     */
    double scaleInput(double dVal)  {
        double[] scaleArray = { 0.0, 0.05, 0.09, 0.10, 0.12, 0.15, 0.18, 0.24,
                0.30, 0.36, 0.43, 0.50, 0.60, 0.72, 0.85, 1.00, 1.00 };

        // get the corresponding index for the scaleInput array.
        int index = (int) (dVal * 16.0);

        // index should be positive.
        if (index < 0) {
            index = -index;
        }

        // index cannot exceed size of array minus 1.
        if (index > 16) {
            index = 16;
        }

        // get value from the array.
        double dScale = 0.0;
        if (dVal < 0) {
            dScale = -scaleArray[index];
        } else {
            dScale = scaleArray[index];
        }

        // return scaled value.
        return dScale;
    }

}

Any help provided would be greatly appreciated. Thank you in advance for reading.