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Unread 06-02-2017, 02:51
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Re: Problem with initializing RobotDrive/Talon objects

Quote:
Originally Posted by ozrien View Post
If you are seeing "Error -52010 NIFPGA" in the Driver Station after adding a CANTalon, I would recommend reading section 16.36 in latest Talon SRX Software Reference Manual.
For the lazy

Quote:
16.36. Adding CANTalon to my C++ FRC application causes the Driver Station log to report: ERROR -52010 NIFPGA: Resource not initialized, GetFPGATime, or similar.
A full example of the crashed call stack is below…
Code:
ERROR -52010 NIFPGA: Resource not initialized GetFPGATime
[Utility.cpp:171]
Error at GetFPGATime [Utility.cpp:171]: NIFPGA: Resource not initialized
at frc::GetFPGATime()
at frc::Timer::GetFPGATimestamp()
at frc::MotorSafetyHelper::MotorSafetyHelper(frc::MotorSafety*)
… this can happen if a CANTalon is constructed before the C++ WPILIB initialization routine is called. At the time of writing, this condition can occur when cleanly creating a C++ Command-based project with the latest Eclipse Plugins. An example workaround can be found here…
https://github.com/CrossTheRoadElec/...74df894f7bbf2d
…demonstrating how to ensure motor controller object is constructed after WPILIB initialization.

C++ Command-based projects generated with latest Robot Builder appears to ensure that motor controller objects are created after WPILIB initialization, and therefore do not cause this failure symptom.

More information on C++ Command-based projects can be found at the FRC screenstepslive page, as this is not maintained by CTRE. https://wpilib.screenstepslive.com
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