Robot code deploying but not running/crashing often

Technical Programming
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This year our team has a severe lack of experience members, as such I am currently the only programmer on our team and have no previous experience coding in FRC prior to the beginning of this year. I’ve attempted to follow the docs closely, but probably not to the degree I should have been. Thus, I’m sure there are a multitude of problems and bad practices in our code which could be causing the problem in the title above. Anyway our code will occasionally deploy, with the need for deploying multiple times before the code works, and even then it crashes or will just suddenly stop working altogether. This problem started a few weeks ago but I dumbly overlooked it. I’m considering rebuilding our code from the ground up to try and diagnose the issue, but given we only have a few days before we leave for competition I felt it a good idea to post here for any help before diving into that endeavor. If there is anyone who is willing to take a look or even point me in the right direction it would be greatly appreciated.

Here is our GitHub with all our robot code: GitHub

and here is the console log we get when deploying code to driver station

Thank you

Warning  0  [phoenix-diagnostics] Server shutdown cleanly. (dur:1578|0)  
Warning  0  [phoenix] Library shutdown cleanly  
Warning  0  [phoenix-diagnostics] Server shutdown cleanly. (dur:10|0)  
 ********** Robot program starting ********** 
 NT: server: client CONNECTED: 172.22.11.1 port 52599 
 CS: USB Camera 0: Connecting to USB camera on /dev/video0 
Warning  44003  FRC: No robot code is currently running.  Driver Station 
 ********** Robot program startup complete ********** 
Warning  1  Loop time of 0.02s overrun
 edu.wpi.first.wpilibj.IterativeRobotBase.printLoopOverrunMessage(IterativeRobotBase.java:359) 
 Warning at edu.wpi.first.wpilibj.IterativeRobotBase.printLoopOverrunMessage(IterativeRobotBase.java:359): Loop time of 0.02s overrun 
 
Warning  1  SmartDashboard.updateValues(): 0.000350s
disabledInit(): 0.002998s
robotPeriodic(): 0.081509s
LiveWindow.updateValues(): 0.265728s
Shuffleboard.update(): 0.000116s
disabledPeriodic(): 0.003747s
 edu.wpi.first.wpilibj.Tracer.lambda$printEpochs$0(Tracer.java:63) 
 Warning at edu.wpi.first.wpilibj.Tracer.lambda$printEpochs$0(Tracer.java:63): SmartDashboard.updateValues(): 0.000350s 
 disabledInit(): 0.002998s 
 robotPeriodic(): 0.081509s 
 LiveWindow.updateValues(): 0.265728s 
 Shuffleboard.update(): 0.000116s 
 disabledPeriodic(): 0.003747s 
 
Warning  1  Loop time of 0.02s overrun
 edu.wpi.first.wpilibj.IterativeRobotBase.printLoopOverrunMessage(IterativeRobotBase.java:359) 
 Warning at edu.wpi.first.wpilibj.IterativeRobotBase.printLoopOverrunMessage(IterativeRobotBase.java:359): Loop time of 0.02s overrun

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Update: It seems the problem is mostly fixed and eliminated, deploying is much more consistent and bot hasn’t crashed yet. After more digging by me and mentors we went through this process on our drive station

  • Uninstalled and Re-installed FRC Game Tools from NI, while realizing we didn’t enter the correct serial number for the software the first time we installed it
  • Imaged Rio with new 2022_4.0 image
  • Re-installed the new VS version which is compatible with the 4.0 Rio image

I was aware of the new image but didn’t realize we had to fully re-install the Game Tool to access that new version. Hopefully smooth sailing from here

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