Pneumatics Code Help?? - Errors??

Technical Java
1

Hello CD,

I am trying to get our Pneumatic Gear Shifting Code to work, but every time I deploy to the CRIO, I get this output.

init:
init:
Deleting directory /Users/Shawn/NetBeansProjects/Drive/build
Deleting directory /Users/Shawn/NetBeansProjects/Drive/suite
Deleting directory /Users/Shawn/NetBeansProjects/Drive/j2meclasses
clean:
Created dir: /Users/Shawn/NetBeansProjects/Drive/build
Compiling 10 source files to /Users/Shawn/NetBeansProjects/Drive/build
compile:
Created dir: /Users/Shawn/NetBeansProjects/Drive/j2meclasses
preverify:
Created dir: /Users/Shawn/NetBeansProjects/Drive/suite
Building jar: /Users/Shawn/NetBeansProjects/Drive/suite/Drive_1.0.0.jar
jar-app:
CompilerOracle: exclude com/sun/squawk/Method.getParameterTypes
CompilerOracle: exclude com/sun/squawk/SymbolParser.getSignatureTypeAt
CompilerOracle: exclude com/sun/squawk/SymbolParser.stripMethods
[translating suite image [closed: false, parent: squawk] ...]
### Excluding compile: com.sun.squawk.Method::getParameterTypes
### Excluding compile: com.sun.squawk.SymbolParser::getSignatureTypeAt
[Including resource: META-INF/MANIFEST.MF]
Romizer processed 182 classes and generated 4 files.
Expanding: /Users/Shawn/NetBeansProjects/Drive/suite/Drive_1.0.0.jar into /Users/Shawn/NetBeansProjects/Drive/suite
Moving 1 file to /Users/Shawn/NetBeansProjects/Drive/suite
Moving 1 file to /Users/Shawn/NetBeansProjects/Drive/suite
Moving 1 file to /Users/Shawn/NetBeansProjects/Drive/suite
Deleting: /Users/Shawn/NetBeansProjects/Drive/image.suite.api
Host OS: Mac OS X 10.8, 10.8
Host JVM: Java HotSpot(TM) 64-Bit Server VM 20.8-b03-424
Target IP: 10.0.4.2
Network interfaces on host:
    en1:  address: 10.148.17.120 netmask: 255.255.248.0
    en0:  address: 10.0.4.6 netmask: 255.0.0.0 <--- on robot's subnet
Connecting FTP @10.0.4.2
upgrade:
Sending local file image.suite
flashapp:
deploy:
init:
[cRIO] [OTA Server] ********* REBOOTING cRIO *********
[cRIO] 
   Waiting for cRIO to reboot (1s)
   Waiting for cRIO to reboot (2s)
   Waiting for cRIO to reboot (3s)
   Waiting for cRIO to reboot (4s)
   Waiting for cRIO to reboot (5s)
   Waiting for cRIO to reboot (6s)
   Waiting for cRIO to reboot (7s)
   Waiting for cRIO to reboot (8s)
   Waiting for cRIO to reboot (9s)
   Waiting for cRIO to reboot (10s)
   Waiting for cRIO to reboot (11s)
   Waiting for cRIO to reboot (12s)
[cRIO] 
[cRIO] -> * Loading debug.o: debug
[cRIO] Debugging is up, target server mounted at /tsfs
[cRIO] 
[cRIO] 
[cRIO]                 VxWorks
[cRIO] 
[cRIO] Copyright 1984-2006  Wind River Systems, Inc.
[cRIO] 
[cRIO]              CPU: MPC5200 -- Wind River Lite5200 BSP.
[cRIO]     Runtime Name: VxWorks
[cRIO]  Runtime Version: 6.3
[cRIO]      BSP version: 2.0/10
[cRIO]          Created: May 27 2011, 11:02:24
[cRIO] ED&R Policy Mode: Deployed
[cRIO]    WDB Comm Type: WDB_COMM_END
[cRIO]              WDB: Ready.
[cRIO] 
[cRIO] * Loading nisysrpc.out: nisysrpc
[cRIO] * Loading NiRioRpc.out: NiRioRpc
[cRIO] * Loading nivissvc.out: nivissvc
[cRIO] * Loading nivision.out: nivision
[cRIO] NI-RIO Server 4.0.0b8 started successfully.
[cRIO] task 0xe2f758 (NiRioRpc) deleted: errno=0 (0) status=0 (0)
[cRIO] * Loading visa32.out: visa32
[cRIO] * Loading niserial.out: niserial
[cRIO] * Loading NiFpgaLv.out: NiFpgaLv
[cRIO] * Loading FRC_FPGA.out: FRC_FPGA
[cRIO] * Loading FRC_NetworkCommunication.out: FRC_NetworkCommunication
[cRIO] FRC_NetworkCommunication was compiled from SVN revision 2923
[cRIO] FPGA Hardware GUID: 0xA14C11BDE4BB64AEF6A86FC52A294CD9
[cRIO] FPGA Software GUID: 0xA14C11BDE4BB64AEF6A86FC52A294CD9
[cRIO] FPGA Hardware Version: 2012
[cRIO] FPGA Software Version: 2012
[cRIO] FPGA Hardware Revision: 1.6.4
[cRIO] FPGA Software Revision: 1.6.4
[cRIO] * Loading FRC_BlackJagBridgePlugin.out: FRC_BlackJagBridgePlugin
[cRIO] FRC_BlackJagBridgePlugin_5200 was compiled from SVN revision 72
[cRIO] * Loading FRC_JavaVM.out: FRC_JavaVM
[cRIO] 
[cRIO] 
[cRIO] [OTA Server] Version: 2012 FRC, Jan  5 2012, 17:20:48
[cRIO] 
[cRIO] 
[cRIO] Welcome to LabVIEW Real-Time 11.0rc14
[cRIO] task 0xddbbe0 (sysapi-rpc) deleted: errno=0 (0) status=0 (0)
[cRIO] 
[cRIO] [Squawk VM] Version: 2011 FRC, Nov  5 2011, 14:34:13
[cRIO] FPGA Hardware GUID: 0xa14c11bde4bb64aef6a86fc52a294cd9
[cRIO] FPGA Software GUID: 0xa14c11bde4bb64aef6a86fc52a294cd9
[cRIO] Solenoid module 1 is not present.
[cRIO] Solenoid module 1 is not present.
[cRIO] DIO LoopTiming: 260, expecting: 261
[cRIO] Solenoid module 1 is not present.
[cRIO] Solenoid module 1 is not present.
[cRIO] edu.wpi.first.wpilibj.util.AllocationException: Solenoid channel 1 on module 1 is already allocated
[cRIO]     at edu.wpi.first.wpilibj.Solenoid.initSolenoid(Solenoid.java:33)
[cRIO]     at edu.wpi.first.wpilibj.Solenoid.<init>(Solenoid.java:46)
[cRIO]     at edu.wpi.first.wpilibj.templates.OI.<init>(OI.java:90)
[cRIO]     at edu.wpi.first.wpilibj.templates.commands.CommandBase.init(CommandBase.java:33)
[cRIO]     at edu.wpi.first.wpilibj.templates.RobotTemplate.robotInit(RobotTemplate.java:37)
[cRIO]     at edu.wpi.first.wpilibj.IterativeRobot.startCompetition(IterativeRobot.java:74)
[cRIO]     at edu.wpi.first.wpilibj.RobotBase.startApp(RobotBase.java:156)
[cRIO]     in virtual method #10 of javax.microedition.midlet.MIDlet(bci=17)
[cRIO]     at javax.microedition.midlet.MIDletTunnelImpl.callStartApp(64)
[cRIO]     at com.sun.squawk.imp.MIDletMainWrapper.main(110)
[cRIO]     in virtual method #95 of com.sun.squawk.Klass(bci=25)
[cRIO]     at com.sun.squawk.Isolate.run(1506)
[cRIO]     at java.lang.Thread.run(231)
[cRIO]     in virtual method #47 of com.sun.squawk.VMThread(bci=42)
[cRIO]     in static method #3 of com.sun.squawk.VM(bci=6)
[cRIO] WARNING: Robots don't quit!
[cRIO] ---> The startCompetition() method (or methods called by it) should have handled the exception above.

Can someone please help me? I tried to trace back the error, but am having trouble, because I have never programmed Pneumatics before. Thank you.

2

Is the SOlenoid module in the correct slot? IIRC it must be in slot 3, even on the 8 slot cRIOs running 2012 firmware.

3

So, the blue and silver module has to be in the 3rd slot of the cRIO, right?

4

Yes, it should be the one with LEDs on its side.

5

It should say 9472.

6

The error that you’re getting has to do with your code. You are initializing the object on that port more than once. Try and find where you initialize the object for the solenoid and find out why that code is being run more than once. (If you’re not familiar with instances in java, I’d suggest you look into it - quick summary - ‘objectName = new Object()’ is the initialization of the object)

Once you find it, I’d suggest using singleton instances of all physical components of your robot. Works much better and prevents errors like this.

Example of singleton instance :

RobotDrive driveInstance
public static RobotDrive getRobotDrive() {
    if(drive == null) {
        drive = new RobotDrive(1,2,3,4);
    }
    return drive;
}