Problem Loading Java Code

[Trevor_Decker]

Originally Posted by aaeamdar2

New update:

Of note: though I disabled WatchDog in the code, it still says

"System: Watchdog"

below the team number.

I'm starting to get pretty stumped.

EDIT: It also tells me when I'm loading code:


[cRIO] Information: No user-supplied RobotMain()

Is this possibly a problem?

OK so, now I have a slightly different problem:

I fixed the aforementioned issue (thanks to all who confirmed that that's what it was) and have (as far as I know) successfully loaded code onto the robot. However, there's a minor issue: nothing happens.

I'm still working on troubleshooting this issue, and I'm not by any means tapped out, but if anyone has any suggestions, I would very much appreciate them. A few facts:

1. I have communication established between robot and DS.
2. The code is supposed to be tank-drive - I essentially copied the code in the doc.
3. Nothing happens when I activate the joysticks.

EDIT: One problem was that I had two projects running. One was blank and selected as the main project; the other had the code in it and was NOT selected as the main project. However fixing this did NOT solve the problem (frowny face).


Here's my code:

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.*;
import edu.wpi.first.wpilibj.DriverStation.*;
import edu.wpi.first.wpilibj.camera.*;


/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the SimpleRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class RobotTemplate extends SimpleRobot
{
    //This is all SANDBOX code.
    public static final boolean PRESSED = true;
    public static final boolean UNPRESSED = false;

    Joystick j1;
    Joystick j2;
    RobotDrive drivetrain;
    Compressor comp;
    DriverStation ds;

    Accelerometer a;
    DigitalInput bump;
    AxisCamera cam;
    Timer t;
    Gyro robotHeadingGyro;



    public RobotTemplate()
    {
        comp = new Compressor(1, 1);
        j1 = new Joystick (1);
        j2 = new Joystick (2);
        drivetrain = new RobotDrive (1, 2);
        this.getWatchdog().setEnabled(false);
        
        ds = DriverStation.getInstance();
        /*
        robotHeadingGyro = new Gyro (1);
        a = new Accelerometer(2);
        bump = new DigitalInput(1);

        if (bump.get())
        {
            System.out.println("oh no cap'n we've been bumped");
        }
         */
    }


    
    /**
     * This function is called once each time the robot enters autonomous mode.
     */
    public void autonomous()
    {
        Alliance a = ds.getAlliance();
        if (a.equals(Alliance.kBlue))
        {
            System.out.println("we're blue");

        }
        else
        {
            System.out.println("we're red");
        }

        while (this.isAutonomous() && this.isEnabled())
        {
            double voltage = ds.getBatteryVoltage();
            System.out.println(voltage);
            if (voltage < 10.0)
            {
                break;
            }
        }
    }

    /**
     * This function is called once each time the robot enters operator control.
     */
    public void operatorControl() 
    {
        while (this.isEnabled() && this.isOperatorControl())
        {
            drivetrain.tankDrive(j1, j2);
            Timer.delay(0.005);
        }
    }

    private void driveStraight(double speed, Gyro g)
    {
        double d = g.getAngle();
        d = d / 360.0;
        if (d > 1.0)
        {
            d = 1.0;
        }
        if (d < -1.0)
        {
            d = -1.0;
        }
        drivetrain.drive (speed, d);
    }

From your post I believe it is that your tela operated function is not being called/running correctly, so why don't you try a line of code that does not require feedback, to see if that is the problem, you could just have the robot drive strait for a few seconds to test the function

for instance you could try

 
 public void operatorControl() 
    {
        
            drivetrain.Drive(1, 0);
            Timer.delay(0.005);
 
    }

[Trevor_Decker]

I know that we declare what port to use for the power distribution block thru out our code for example

 drivetrain = new RobotDrive(1, 2);

But where do we declare what port to use for the Crio, is their a way to use a different port? In case something where to happen to the normal port.

[EHaskins]

Originally Posted by Trevor_Decker

I know that we declare what port to use for the power distribution block thru out our code for example

 drivetrain = new RobotDrive(1, 2);

But where do we declare what port to use for the Crio, is their a way to use a different port? In case something where to happen to the normal port.

Nowhere in code do you specify the power source for the motors. You specify the PWM outputs (from the digital sidecar) which the motor controllers are connected to.

The code you posted is creating a RobotDrive using Jaguar controllers on PWMs 1 and 2 on the default digital sidecar (CRIO slot 4).

If you want to use different PWM outputs you could modify it like so:

drivetrain = new RobotDrive(3, 4); //Uses PWM outputs 3 and 4.
drivetrain = new RobotDrive(1, 2, 3, 4); //Used PWMs 1 and 2 for the left drives, and 3 and 4 for the right drives.

[aaeamdar2]

Trevor,

Your solution trouble-shoots the joystick/jaguar issue, not whether operatorControl() is being called. I might give that a try, but I'm reasonably certain I don't have 2 joysticks failing spontaneously, or 2 jaguars etc.

Ehaskins,

Got a reply on official FIRST forums (this does not mean it's correct of course) that the RobotMain() function is not the problem (and boy do I hate the casing of that method name - why did they make it look like a constructor?)

At the moment I'm most interested in examining the WatchDog angle - does anyone fully understand this and could explain to the unenlightened?