MotorControllerGroup Error

Technical Programming
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1

I am trying to code an FRC robot that my robotics team used last year. There is one error left, and I have no idea what is happening. Here is my code for my drivetrain.java file:

package frc.robot.subsystems;

import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.can.VictorSPX;

import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;

public class drivetrain {
private VictorSPX leftMotor1;
private VictorSPX leftMotor2;
private final MotorControllerGroup leftMotors;
private VictorSPX rightMotor1;
private VictorSPX rightMotor2;
private final MotorControllerGroup rightMotors;

public drivetrain() {
    leftMotor1 = new VictorSPX(1);
    leftMotor2 = new VictorSPX(2);
    rightMotor1 = new VictorSPX(3);
    rightMotor2 = new VictorSPX(4);

    MotorControllerGroup leftMotors = new MotorControllerGroup(leftMotor1, leftMotor2);
    MotorControllerGroup rightMotors = new MotorControllerGroup(rightMotor1, rightMotor2);
}

public void tankDrive(double leftMotor, double rightMotor) {
    leftMotors.set(leftMotor);
    rightMotors.set(rightMotor);
}

public MotorController getLeftMotorController() {
    return null;
}

public MotorController getRightMotorController() {
    return null;
}

}

The error is this:
The constructor MotorControllerGroup(VictorSPX, VictorSPX) is undefined

2

The normal VictorSPX class doesn’t implement the MotorController interface from WPILib, and so can’t be used in a MotorControllerGroup. Use the WPI_VictorSPX class instead. You should be able to simply replace “VictorSPX” with “WPI_VictorSPX” at every point where it’s used in your code.

This assumes that the VictorSPX is connected via CAN, and that the CAN IDs are assigned correctly.

3

That worked, but now I have some more errors.

The blank final field leftMotors may not have been initialized
The blank final field rightMotors may not have been initialized

Also, in build.gradle, I have this error:

The supplied phased action failed with an exception.
A problem occurred configuring root project ‘Newarcadedirve’.
A problem occurred evaluating root project ‘Newarcadedirve’.
Could not get unknown property ‘deps’ for extension ‘wpi’ of type edu.wpi.first.gradlerio.wpi.WPIExtension.

4

Exactly as the error says, you have class member variables marked final that haven’t been initialized (i.e. assigned a value). If you believe you have assigned a value, then you should look at where youre doing so. 99% of the time (including this time), it’s just a silly mistake.

If you need a hint… variable scope matters