Robot code not showing up in driverstation despite deploying and building successfully

Technical Programming
1

When I build and deploy the code it says it is successful, but when I go to driverstation it shows up as no robot code and does not allow me to enable. The code is here

Thanks!

2

That typically means your code is crashing at startup. Opening up the DS log window (the gear icon at the upper right) should give you more info.

3

Exactly what @Peter_Johnson said.

I tried pulling your code and running it and it crashes. This is the error:

Error at java.base/java.lang.ClassLoader.defineClass1(Native Method): Unhandled exception: java.lang.IncompatibleClassChangeError: class com.pathplanner.lib.commands.PathPlannerAuto has interface edu.wpi.first.wpilibj2.command.Command as super class
        at frc.robot.RobotContainer.<init>(RobotContainer.java:72)
        at frc.robot.Robot.robotInit(Robot.java:33)
        at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:106)
        at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:358)
        at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$0(RobotBase.java:431)
        at java.base/java.lang.Thread.run(Thread.java:833)

Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:373): The robot program quit unexpectedly. This is usually due to a code error.
  The above stacktrace can help determine where the error occurred.
  See https://wpilib.org/stacktrace for more information.

I think the problem is that you have PathPlanner 2024 beta, but you’re using WPILib 2023. Both need to be the same year.

2 Likes
4

Do you know where i can find the 2024 installer? Thanks

5

Here is the info for WPILib and common vendor 2024 betas:

6

At this point I would recommend not installing the 2024 beta things and waiting for the kickoff releases. You’d just need to upgrade again.

7

Oh. Yeah I just finished installing all the beta things. Did not see this. It seems like a lot of things have been deprecated. New Code. I no longer have access to the robot today so I guess I will have to wait till tommorow. Thank you for the help!

8

The deprecations are all in the CTRE Phoenix 5 library. Over the summer, CTRE announced that Phoenix 6 would be “free to use” for everyone. With that, they announced deprecation of some classes in Phoenix 5.

The Phoenix 5 library will still be maintained and released as-is for the foreseeable future. Classes that exist in both v5 and v6, such as TalonFX, will be deprecated in v5 for the 2024 season with the intent to remove them from v5 after 1 year (for the 2025 season).

You could keep using the Phoenix 5 classes this year, but like I mentioned on your other thread, I recommend using Phoenix 6 and their swerve project generator.

9

ok thanks!

10

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