We have written some very simple code that just runs two VictorSPXs for testing. On one of our robots it works successfully. On the other robot it throws the following UnsatisfiedLinkError:
********** Robot program starting **********
java.lang.UnsatisfiedLinkError: no CTRE_PhoenixCCI in java.library.path: [/usr/local/frc/third-party/lib]
at java.base/java.lang.ClassLoader.loadLibrary(Unknown Source)
at java.base/java.lang.Runtime.loadLibrary0(Unknown Source)
at java.base/java.lang.System.loadLibrary(Unknown Source)
...code that creates the VictorSPX
We did the following on both bots:
Reimaging and updating the RoboRIO to 2019_v13, multiple times
Updating all ids and firmware of Victors to 4.15, and ensuring that they are connected
Installed the Phoenix libraries version 5.13.0
Update the version of the file in vendordeps to 5.13.0
But they still exhibit different behaviour. Any ideas?
I found a file at C:\Users\Public\frc2019\maven\com\ctre\phoenix\cci\5.13.0\cci-5.13.0-linuxathena.zip\linux\athena\shared\libCTRE_PhoenixCCI.so , which I believe is the file missing at /usr/local/frc/third-party/lib on the RoboRIO. Maybe I could try manually copy the file there?