My name is marco from team 564 Longwood, i recently tried to upload last years code and i have been having a problem where digital module 1 was not present and we checked the robot itself and nothing has changed since last years working code. Here’s last years code, im wondering if you can take a look at the code, please and thank you 
/----------------------------------------------------------------------------/
/* Copyright © 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.camera.AxisCamera;
import edu.wpi.first.wpilibj.*;
/**
-
The VM is configured to automatically run this class, and to call the
-
functions corresponding to each mode, as described in the IterativeRobot
-
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 IterativeRobot
{
/*- This function is run when the robot is first started up and should be
- used for any initialization code.
*/
RobotDrive drive1; // Drive object
RobotDrive drive2; // Drive object
Joystick rightStick; // joystick
Joystick leftStick; // joystick
Joystick other; // joystick
Jaguar arm; // manipulator jaguar
Jaguar jag1; //driving jaguars
Jaguar jag2;
Jaguar jag3;
Jaguar jag4;
Servo twist; // pans camera left-right
Servo tilt; // pans camera up and down
Servo pin1; // servo for minibot release
Servo pin2;
// Solenoid clawfire; // claw 2
//Solenoid clawrelease; // claw 1
// Solenoid slidefire; // minibot slide 3
//Solenoid sliderelease;// minibot slide 4
//Compressor comp; // compressor
DigitalInput right; // lightsensor
DigitalInput middle; // lightsensor
DigitalInput left; // lightsensor
AnalogChannel pot; // potentiometer
//AxisCamera cam; // camera
Gyro gyro; // gyro
Relay relay;
DigitalInput pressureSwitch;
int autoPeriodicLoops;
int disabledPeriodicLoops;
int telePeriodicLoops;
static final int UNINITIALIZED_DRIVE = 0;
static final int ARCADE_DRIVE = 1;
static final int TANK_DRIVE = 2;
int driveMode;
int dsPacketsReceivedInCurrentSecond;
int count;
int count2;
boolean check;public RobotTemplate()
{
System.out.println(“Constructor Started”);
drive1 = new RobotDrive(1,2); //left
drive2 = new RobotDrive(3,4); //right
rightStick = new Joystick(1);
leftStick = new Joystick(2);
other = new Joystick(3);
jag1 = new Jaguar(1, 1); //driving jaguars
jag2 = new Jaguar(1, 2);
jag3 = new Jaguar(1, 3);
jag4 = new Jaguar(1, 4);
arm = new Jaguar(1, 5); //to set up for new robot, 5 for winch
twist = new Servo(6); //plugged into 6
tilt = new Servo(7); //plugged into 7
pin1 = new Servo(8); //plugged into 8
pin2 = new Servo(9);
// clawfire = new Solenoid(1); //plugged into 1,2
//clawrelease = new Solenoid(2); //plugged into 1,2
//slidefire = new Solenoid(4); //plugged into 3,4
//sliderelease = new Solenoid(3); //plugged into 3,4
//comp = new Compressor(1,1); //plugged into 1,8right = new DigitalInput(3); middle = new DigitalInput(2); left = new DigitalInput(9); pot = new AnalogChannel(3); //slot 1 channel 3 gyro = new Gyro(2); //plugged into 2 relay = new Relay(1, Relay.Direction.kForward); pressureSwitch = new DigitalInput(1); dsPacketsReceivedInCurrentSecond = 0; autoPeriodicLoops = 0;disabledPeriodicLoops = 0;
telePeriodicLoops = 0;
driveMode = UNINITIALIZED_DRIVE;
count = 0;
count2 = 0;
check = true;
System.out.println(“Constructor completed.”);
}public void robotInit()
{relay.set(Relay.Value.kOn); //comp.start(); //starts compressor //camera stuff //cam = AxisCamera.getInstance(); //cam.writeResolution(AxisCamera.ResolutionT.k160x120); //cam.writeColorLevel(1); //cam.writeBrightness(0);
// drive.setInvertedMotor(RobotDrive.MotorType.kFrontLeft, false);
// drive.setInvertedMotor(RobotDrive.MotorType.kRearLeft, true);
System.out.println("robotInit() completed.");
}
public void disabledInit()
{
disabledPeriodicLoops = 0; // Reset the loop counter for disabled mode
startSec = (int)(Timer.getUsClock() / 1000000.0);
printSec = startSec + 1;
System.out.println("Robot disabled.");
}
public void autonomousInit()
{
autoPeriodicLoops = 0; // Reset the loop counter for autonomous mode
System.out.println("Autonomous method running.");
}
public void teleopInit()
{
telePeriodicLoops = 0; // Reset the loop counter for teleop mode
dsPacketsReceivedInCurrentSecond = 0; // Reset the number of dsPackets in current second
driveMode = UNINITIALIZED_DRIVE; // Set drive mode to uninitialized
System.out.println("Teleoperated method running.");
}
static int printSec;
static int startSec;
public void disabledPeriodic()
{
// feed the user watchdog at every period when disabled
Watchdog.getInstance().feed();
// increment the number of disabled periodic loops completed
disabledPeriodicLoops++;
// while disabled, printout the duration of current disabled mode in seconds
if ((Timer.getUsClock() / 1000000.0) > printSec)
{
System.out.println("Disabled seconds: " + (printSec - startSec));
printSec++;
}
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic()
{
// feed the user watchdog at every period when in autonomous
//adressing autonomous - this is what we added
autoPeriodicLoops++;
if(pressureSwitch.get()){
relay.set(Relay.Value.kOff);
}
//printing things for testing
// System.out.println("Gyro Angle" + gyro.getAngle());
System.out.println("left " + left.get() + " middle " + middle.get() + " right " + right.get());
//autonomous code for straight
if(count <= 140)
{
drive1.tankDrive(-0.48, -0.5);
drive2.tankDrive(-0.48, -0.5);
count++;
}
else if(pot.getValue() > 260) // 1 seconds
{
arm.set(-0.65); // raise arm
drive1.tankDrive(-0.48, -0.5);
drive2.tankDrive(-0.48, -0.5);
}
else if(pot.getValue() <= 260 && check){
arm.set(0.0);
check = false;
}
else if(count <= 270)
{
drive1.tankDrive(-0.48, -0.5);
drive2.tankDrive(-0.48, -0.5);
if(count == 270)
{
if(count2 <= 75)
{
drive1.tankDrive(0, 0);
drive2.tankDrive(0, 0);
if(pot.getValue() < 275)
{
arm.set(.1);
}
else
{
arm.set(0.0);
}
}
else
{
// clawrelease.set(true); // open claw
// clawfire.set(false);
}
}
count++;
count2++;
}
else
{
drive1.tankDrive(0.5, 0.5);
drive2.tankDrive(0.5, 0.5);
}
//optical sensors are working correctly
//should work for line following
//! is added to compensate for testing, will be removed for competition
/* if(!left.get() && middle.get()){
//if left is true and middle is not then turn left
drive1.tankDrive(0.5, -0.5);
drive2.tankDrive(0.5, -0.5);
}
else if(!middle.get() && (left.get() && right.get())){
//if middle is true and nothing else is true
drive1.tankDrive(0.5, 0.5);
drive2.tankDrive(0.5, 0.5);
}
else if(!right.get() && middle.get()){
//if right is true and the middle is not true turn right
drive1.tankDrive(-0.5, 0.5);
drive2.tankDrive(-0.5, 0.5);
}
else if(!right.get() && !left.get()){
//if right and left are true, you have reached the fork in the road
//to turn left, uncomment this
if(gyro.getAngle() > -30){//brendon guestimates the angle to be 30
drive1.tankDrive(-0.5, 0.5);
drive2.tankDrive(-0.5, 0.5);
}
//to turn right, uncomment this
if(gyro.getAngle() < 30){
drive1.tankDrive(0.5, -0.5);
drive2.tankDrive(0.5, -0.5);
}
}
else{
//stop
drive1.tankDrive(0.0, 0.0);
drive2.tankDrive(0.0, 0.0);
//here will be something with the arm and claw under the assumtion that there is no line where the peg is, we will need to check this
if(pot.getValue()< 515){//arbitrary number is being used here since we dont know the actual #
arm.set(-0.45);
}
else{
arm.set(0.0);
clawrelease.set(true);//opens claw
clawfire.set(false);
//starts the compressor after shooting off the piston
relay.set(Relay.Value.kOn);
}
//claw.set(false);//not sure how to deal with this because ... i guess that the piston will start out already fired...
}*/
//hypothetically we could use the gyro here, for the fork and turning and even for keeping straight,so heres the scoring written that way
//this is only a test to see if it will go straight
/* if(gyro.getAngle() <= 15 && gyro.getAngle() >= -15){
drive.tankDrive(0.5, 0.5);
}
else if(gyro.getAngle() >= 15){
drive.tankDrive(-0.5, 0.5);
}
else if(gyro.getAngle() <= 15){
drive.tankDrive(0.5, -0.5);
}
else{
drive.tankDrive(0.0, 0.0);
}
*/
//end of added things
Watchdog.getInstance().feed();
autoPeriodicLoops++;
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic()
{
// feed the user watchdog at every period when in autonomous
Watchdog.getInstance().feed();
// increment the number of teleop periodic loops completed
telePeriodicLoops++;
/*
* Code placed in here will be called only when a new packet of information
* has been received by the Driver Station. Any code which needs new information
* from the DS should go in here
*/
dsPacketsReceivedInCurrentSecond++; // increment DS packets received
if(pressureSwitch.get()){
relay.set(Relay.Value.kOff);
}
else{
relay.set(Relay.Value.kOn);
}
System.out.println("potentiometer values " + pot.getValue());
//System.out.println("gyro values " + gyro.getAngle());
System.out.println("left " + left.get() + " middle " + middle.get() + " right " + right.get());
// determine if tank or arcade mode, based upon position of "Z" wheel on kit joystick
if (other.getRawButton(2)) // Logitech Attack3 has z-polarity reversed; up is negative
{//changed to use the same button as last year to activiate arcade drive,must be held to keep activiated
// use arcade drive
// drive with arcade style (use other stick)
drive1.arcadeDrive(other.getY(), other.getX());
drive2.arcadeDrive(other.getY(), other.getX());
//should give us control over the camera servos
twist.set(rightStick.getX());
tilt.set(rightStick.getY());
if(other.getRawButton(8)){
arm.set(0.22);//arm down
}
else if(other.getRawButton(9)){
arm.set(-0.65);//arm up
}
else{
arm.set(0.0);//arm stop
}
//if button 6 is pushed, fire the claw
if(other.getRawButton(6))
{
// clawfire.set(true);
// clawrelease.set(false);
}
//if button 7 is pushed release the tube
if(other.getRawButton(7)){
// clawrelease.set(true);
// clawfire.set(false);
}
//button 1 releases the pin holding the minibot in
if(other.getRawButton(1)){
pin1.setAngle(45);
pin2.setAngle(45);
//button 11 fires the slide
}
if(other.getRawButton(11))
{
// sliderelease.set(false);
// slidefire.set(true);
}
if(other.getRawButton(10)){
// slidefire.set(false);
// sliderelease.set(true);
}
if (driveMode != ARCADE_DRIVE)
{
// if newly entered arcade drive, print out a message
System.out.println("Arcade Drive
");
driveMode = ARCADE_DRIVE;
}
}
else
{
// use tank drive
drive1.tankDrive(rightStick.getY(), leftStick.getY());
drive2.tankDrive(rightStick.getY(), leftStick.getY());
//should give us control over the camera servos
twist.set(other.getX());
tilt.set(other.getY());
//jag drive
/* jag1.set(rightStick.getY());
jag3.set(rightStick.getY());
//leftside motors
jag2.set(-leftStick.getY());
jag4.set(-leftStick.getY());
*/
if(other.getRawButton(8)){
arm.set(0.22);//arm up
}
else if(other.getRawButton(9)){
arm.set(-0.65);//arm down
/* if(pot.getValue() <= 700){
arm.set(-0.75);
}*/
}
else{
arm.set(0.0);//arm stop
}
//button 6 fires claw solenoid
if(other.getRawButton(6))
{
// clawrelease.set(false);
// clawfire.set(true);
}
//button 7 releases claw solenoid
if(other.getRawButton(7))
{
//clawfire.set(false);
//clawrelease.set(true);
}
//button 1 releases the pin holding the minibot in
if(other.getRawButton(1)){
pin1.setAngle(45);
pin2.setAngle(45);
}
if(other.getRawButton(11))
{
// sliderelease.set(false);
// slidefire.set(true);
}
if(other.getRawButton(10)){
// slidefire.set(false);
// sliderelease.set(true);
}
if (driveMode != TANK_DRIVE)
{
// if newly entered tank drive, print out a message
System.out.println("Tank Drive
");
driveMode = TANK_DRIVE;
}
}
}
}