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#5
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Re: Robot class cannot be instantiated
I narrowed down the subsystem, but I don't understand what the issue could be within it:
package org.usfirst.frc.team3205.robot.subsystems; import org.usfirst.frc.team3205.robot.RobotMap; import org.usfirst.frc.team3205.robot.commands.armStart; import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.Encoder; import edu.wpi.first.wpilibj.SpeedController; import edu.wpi.first.wpilibj.Talon; import edu.wpi.first.wpilibj.command.Subsystem; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboar d; /** * */ public class Arm extends Subsystem { // Put methods for controlling this subsystem // here. Call these from Commands. private DigitalInput armUpperLimit; private DigitalInput armLowerLimit; private SpeedController armMover; private Encoder armEncoder; public Arm(){ armUpperLimit = new DigitalInput(RobotMap.ARM_UPPER_LIMIT); //armMiddleLimit = new DigitalInput(RobotMap.ARM_MIDDLE_LIMIT); armLowerLimit = new DigitalInput(RobotMap.ARM_LOWER_LIMIT); armMover = new Talon(RobotMap.ARM_MOTOR); armEncoder = new Encoder(0,0, false, Encoder.EncodingType.k4X); //CHANGE THE ENCODER PORTS } public void initDefaultCommand() { // Set the default command for a subsystem here. //setDefaultCommand(new MySpecialCommand()); setDefaultCommand(new armStart()); } public boolean isUpperLimitSet(){ return armUpperLimit.get(); } // public boolean isMiddleLimitSet(){ // return armMiddleLimit.get(); // } public boolean isLowerLimitSet(){ return armLowerLimit.get(); } public void moveUp(){ armMover.set(RobotMap.ARM_SPEED); } public void moveDown(){ armMover.set(-RobotMap.ARM_SPEED); } public void stopMoving(){ armMover.set(0.0); } public void resetEncoder(){ armEncoder.reset(); } public int getEncoder(){ return armEncoder.getRaw(); } public void updateSmartDashboard(){ SmartDashboard.putNumber("Arm Encoder", getEncoder()); SmartDashboard.putBoolean("Arm Upper Limit", isUpperLimitSet()); //SmartDashboard.putBoolean("Arm Middle Limit", isMiddleLimitSet()); SmartDashboard.putBoolean("Arm Lower Limit", isLowerLimitSet()); SmartDashboard.putNumber("Distance", armEncoder.getDistance()); } } |
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