The startCompetition() method (or methods called by it) should have handled the exception above error

Technical Java
1

  • Warning at edu.wpi.first.wpilibj.IterativeRobotBase.printLoopOverrunMessage(IterativeRobotBase.java:412): Loop time of 0.02s overrun

  • Unhandled exception: java.lang.IllegalStateException: A CANSparkMax instance has already been created with this device ID: 2

  • The robot program quit unexpectedly. This is usually due to a code error.
    The above stacktrace can help determine where the error occurred.
    See Reading Stacktraces — FIRST Robotics Competition documentation for more information.

  • Error at com.revrobotics.CANSparkLowLevel.(CANSparkLowLevel.java:157): Unhandled exception: java.lang.IllegalStateException: A CANSparkMax instance has already been created with this device ID: 2

  • at com.revrobotics.CANSparkLowLevel.(CANSparkLowLevel.java:157)

  • at com.revrobotics.CANSparkBase.(CANSparkBase.java:194)

  • The startCompetition() method (or methods called by it) should have handled the exception above.

  • at com.revrobotics.CANSparkMax.(CANSparkMax.java:47)

  • at frc.robot.subsystems.SwerveModule.(SwerveModule.java:45)

  • at frc.robot.subsystems.SwerveSubsystem.(SwerveSubsystem.java:15)

  • at frc.robot.commands.autoTop.(autoTop.java:30)

  • at frc.robot.RobotContainer.getAutonomousCommand(RobotContainer.java:127)

  • at frc.robot.Robot.autonomousInit(Robot.java:80)

  • at edu.wpi.first.wpilibj.IterativeRobotBase.loopFunc(IterativeRobotBase.java:345)

  • at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:131)

  • at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:365)

  • at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:453)

  • at frc.robot.Main.main(Main.java:27)

  • Warning at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:379): The robot program quit unexpectedly. This is usually due to a code error.

  • The above stacktrace can help determine where the error occurred.

  • See Reading Stacktraces — FIRST Robotics Competition documentation for more information.

  • Error at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:386): The startCompetition() method (or methods called by it) should have handled the exception above.

  • ********** Robot program starting **********

  • NT: Listening on NT3 port 1735, NT4 port 5810

  • CANSparkMax object created for CAN ID 10, which is not a SPARK MAX. Some functionalities may not work.

  • Warning at com.revrobotics.CANSparkMax.(CANSparkMax.java:50): CANSparkMax object created for CAN ID 10, which is not a SPARK MAX. Some functionalities may not work.

  • at com.revrobotics.CANSparkMax.(CANSparkMax.java:50)

  • at frc.robot.subsystems.ArmSubsystem.(ArmSubsystem.java:14)

  • at frc.robot.RobotContainer.(RobotContainer.java:35)

  • at frc.robot.Robot.robotInit(Robot.java:36)

  • at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:107)

  • at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:365)

  • at edu.wpi.first.wpilibj.RobotBase.startRobot(RobotBase.java:453)

  • at frc.robot.Main.main(Main.java:27)

the parts that talk about duplicate sparkmax, I looked but couldn’t find anything, can anyone help?

2

Do you have a Github repo for your code? Without seeing the code it is hard to diagnose, but looks like you have multiple devices with the same ID.

3

Likely you’re creating more than one ArmSubsystem

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4

This looks like your autoTop command is creating an instance of SwerveSubsystem, which is presumably already created elsewhere (i.e. RobotContainer).

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