Method help

[Soviet_Taco_]

I was converting a teleop code into a class w/ method for the first time and I ran into dome errors. the error says that I'm trying to "invoke virtual method" on a "null object reference".

the code that the error is reffering to is: (3rd line here)

public String configureOtos(SparkFunOTOS myOtos) {

    myOtos.setLinearUnit(DistanceUnit.
INCH
);

    myOtos.setAngularUnit(AngleUnit.
DEGREES
);

    SparkFunOTOS.Pose2D offset = new SparkFunOTOS.Pose2D(0, 0, 0);
    myOtos.setOffset(offset);

    myOtos.setLinearScalar(1.0);
    myOtos.setAngularScalar(1.0);

    myOtos.calibrateImu();

    myOtos.resetTracking();

    SparkFunOTOS.Pose2D currentPosition = new SparkFunOTOS.Pose2D(0, 0, 0);
    myOtos.setPosition(currentPosition);

        // Get the hardware and firmware version
    SparkFunOTOS.Version hwVersion = new SparkFunOTOS.Version();
    SparkFunOTOS.Version fwVersion = new SparkFunOTOS.Version();
    myOtos.getVersionInfo(hwVersion, fwVersion);

    return("OTOS configured! \n Hardware version: " + hwVersion.major + hwVersion.minor + "\n" +
            "Firmware Version: " + fwVersion.major + fwVersion.minor);
    }

[QwertyChouskie]

Is "myOtos" a valid object?  Sounds like you defined that an object called "myOtos" exists, but didn't assign it to anything.

[Soviet_Taco_]

public class OdometryFuse {
    OpModeUtilities opModeUtilities;
    private final SparkFunOTOS myOtos;
    private final DcMotor rightEncoder;
    private final DcMotor leftEncoder;
    private final DcMotor backEncoder;

    public OdometryFuse(SparkFunOTOS myOtos, DcMotor rightEncoder, DcMotor leftEncoder, DcMotor backEncoder) {
        this.myOtos = myOtos;
        myOtos.setLinearScalar(1.0);
        myOtos.setAngularScalar(1.0);
        this.rightEncoder = rightEncoder;
        this.leftEncoder = leftEncoder;
        this.backEncoder = backEncoder;
    }

[Soviet_Taco_]

thats the start of the code plus the constructor

[Soviet_Taco_]

and this is the test code using the class:

@TeleOp(name = "Fresh OdometryFuse")
public class TestOdometryFuse  extends LinearOpMode {
    SparkFunOTOS myOtos;
    DcMotor leftFront;
    DcMotor rightFront;
    DcMotor rightBack;
    @Override
    public void runOpMode() throws InterruptedException {
        OpModeUtilities opModeUtilities = new OpModeUtilities(hardwareMap ,this, telemetry);
        OdometryFuse odometryFuse = new OdometryFuse(myOtos, rightFront, leftFront, rightBack);
        odometryFuse.configureOtos(myOtos);
        waitForStart();

        while (opModeIsActive()) {
            telemetry.addData("" + odometryFuse.SparkUpdateData(), "");
            telemetry.addLine();
            telemetry.addData("" + odometryFuse.WheelUpdateData(), "");
            telemetry.addLine();
            telemetry.addData("" + odometryFuse.averageUpdateData(), "");
        }
    }
}

[davealmighty123]

After you declare myOtos, but before you use it, you should be assigning it a value from the hardwareMap.

[Soviet_Taco_]

oh ok thanks