I am getting Unhandled exception: java.lang.RuntimeException: Multiple commands in a parallel composition cannot require the same subsystems com.pathplanner.lib.auto.AutoBuilder.buildAuto(AutoBuilder.java:685). There are no commands requiring the same subsystem in a parallel group. The only way there are multiple requirements of the same subsystem is in a Sequential Group.
I would recommend you build the sendable chooser on your own to see if you get the same error.
Here’s Python code (Auobuilding the chooser isn’t support in Python) that does it, you can translate it to Java I think:
# To configure the Autonomous routines use PathPlanner to define the auto routines
# Then, take all of the path planner created routines and add them to the auto
# chooser so the drive team can select the starting auto.
self._auto_chooser: wpilib.SendableChooser = wpilib.SendableChooser()
self._auto_chooser.setDefaultOption(
"Sub 2 - One Ring", PathPlannerAuto("OneRingSub2")
)
self._auto_chooser.addOption("Sub 2 - Two Ring", PathPlannerAuto("TwoRingSub2"))
wpilib.SmartDashboard.putData("AutoChooser", self._auto_chooser)
Then, if you’re still having the error, you’ll know specifically which auto composition is causing the issue.
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Back up your autos then delete them one at a time and test until the problem goes away.
It looks like 2-NoteFieldCenter may have shootSubwoofer and shootpodium within the same parallel group.
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I tried this, but it does not say which one is causing the error.
Sorry, I looked at it wrong. You are absolutely correct. This was the issue.
Thank you
You’re welcome.
A future version of PathPlanner will make it easier to debug this type of problem.
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