Brushed motor breaks java code

Technical
1

hello, I am writing about a coding issue. Every time we push code with this line it breaks it.
m_intake = new CANSparkMax(m_intake7ID, MotorType.kBrushed);
I didn’t find anywhere that said k.Brushed was replaced but I don’t know if I am missing something?

2

Can you provide the stack trace?

3

this is the best I can do

package frc.robot;

import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkLowLevel;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.VictorSP;

public class Robot extends TimedRobot {

private DifferentialDrive m_myRobot;

private Joystick m_leftStick;
private Joystick m_rightStick;
private XboxController Xbox;

private static final int leftDevice1ID = 1;
private static final int leftDevice2ID = 2;
private static final int rightDevice3ID = 3;
private static final int rightDevice4ID = 4;
private static final int m_leftboom5ID = 5;
private static final int m_rightboom6ID = 6;
private static final int m_intakeDevice7ID = 7;
private static final int m_shooter8ID = 8;
private static final int m_shooter2ID = 9;

private CANSparkMax m_leftMotor;
private CANSparkMax m_leftMotor2;
private CANSparkMax m_rightMotor;
private CANSparkMax m_rightMotor2;
private CANSparkMax m_leftboom;
private CANSparkMax m_rightboom;
private CANSparkMax m_shooter;
private CANSparkMax m_shooter2;
private CANSparkMax m_intake;

@Override
public void robotInit() {

m_leftMotor = new CANSparkMax(leftDevice1ID, MotorType.kBrushless);
m_leftMotor2 = new CANSparkMax(leftDevice2ID, MotorType.kBrushless);
m_rightMotor = new CANSparkMax(rightDevice3ID, MotorType.kBrushless);
m_rightMotor2 = new CANSparkMax(rightDevice4ID, MotorType.kBrushless);
m_leftboom = new CANSparkMax(m_leftboom5ID, MotorType.kBrushless);
m_rightboom = new CANSparkMax(m_rightboom6ID, MotorType.kBrushless);
m_intake = new CANSparkMax(m_intakeDevice7ID, MotorType.kBrushed);
m_shooter = new CANSparkMax(m_shooter8ID, MotorType.kBrushless);
m_shooter2 = new CANSparkMax(m_shooter2ID, MotorType.kBrushless);

m_leftMotor.restoreFactoryDefaults();
m_leftMotor2.restoreFactoryDefaults();
m_rightMotor.restoreFactoryDefaults();
m_rightMotor2.restoreFactoryDefaults();
m_leftboom.restoreFactoryDefaults();
m_rightboom.restoreFactoryDefaults();
m_shooter.restoreFactoryDefaults();
m_shooter2.restoreFactoryDefaults();

m_leftMotor2.follow(m_leftMotor);
m_rightMotor2.follow(m_rightMotor);
m_leftboom.follow(m_rightboom);

m_myRobot = new DifferentialDrive(m_leftMotor, m_rightMotor);

m_rightStick = new Joystick(1);
m_leftStick = new Joystick(0);
Xbox = new XboxController(2);
}

private double startTime;

@Override
public void autonomousInit() {
startTime = Timer.getFPGATimestamp();
}

@Override
public void autonomousPeriodic(){
double time = Timer.getFPGATimestamp();
}

@Override
public void teleopPeriodic() {
m_myRobot.tankDrive(-m_leftStick.getY(), m_rightStick.getY());

double boom = Xbox.getRawAxis(1) * 0.6;{
}

m_leftboom.set(boom);
m_rightboom.set(boom);

if(Xbox.getRawButton(1)) {
m_intake.set(0.15);}
else if(Xbox.getRawButton(2)) {
m_intake.set(-0.15);
} else {
m_intake.set(0.0);
}

if(Xbox.getRawButton(8)) {
m_shooter.set(0.5);
m_shooter2.set(0.5);
}else if (Xbox.getRawButton(5)) {
m_shooter.set(0.25);
m_shooter2.set(0.25);}
else{
m_shooter.set(0);
m_shooter2.set(0);
}}}

4

I do not see anything necessarily wrong here. Can you clarify if the problem happens at build time when you deploy or is a crash while the program runs?

5

we got it to deploy to the robot but ow we have a problem that no matter how we do the CAN Bus we can’t get at least 1 Spark Max to be identified

6

note this comes up for our brushed motor and it killed all robot code

[CAN SPARK] IDs: 7, Error Invalid Cannot set motor type to kBrushed for SPARK without a dock connected.

7

Interesting, it seems to think that it is a SparkFLEX. I assume that this is something in CANSparkBase that should not be.

@Greg_Needel

8

We finally got it working and it worked just after pushing code about 5 more times.

9

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