Navx-MXP AHRS error

Our kauailabs Navx-MXP is giving an error in the DriverStation after deploying code and following set up instructions:

ERROR Unhandled exception instantiating robot
 org.usfirst.frc.team5510.robot.Robot java.lang.NoClassDefFoundError:
 edu/wpi/first/wpilibj/PIDSourceType at 
 sun.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method), sun.reflect.NativeConstructorAccessorImpl.newInstance(, 
sun.reflect.DelegatingConstructorAccessorImpl.newInstance(, java.lang.reflect.Constructor.newInstance(,

We are still using the 2015 libraries if that matter. Any help would be greatly appreciated!

Your problem is that you are using the 2015 WPILib with a library that was designed for 2016. One of the things that changed in 2016 was that PIDSourceParameter was renamed to PIDSourceType.


My recommendation is simply that you update your roboRIO, because you will have to do it eventually.

oh, will do right now. Thanks!


When I try to compile my navX code on Eclipse using C++ it says “fatal error: AHRS.h: No such file or directory”

What can I do to fix it?

Inconceivable Programmers

You’ll need to follow the instructions to configure the Eclipse Library and Include Paths on the NavX-MXP C++ for Roborio Library page.