Error

public class Lunokhod extends Activity implements LocationListener, SensorEventListener  {

        Button btn;

        private SensorManager sensorManager;
        private Sensor lightSensor, mGravity;
        private SensorEventListener lightEventListener;
        private View light;
        private float maxValue;
        private TextView textView, speed, magnit;
        public static DecimalFormat DECIMAL_FORMATTER;
        private TextView xTextView, yTextView, zTextView;
        private boolean isGravitySensorPresent;
        private ImageView ImageView;
        private float[] mmGravity = new float[3];
        private float[] mGeomagnetic = new float[3];
        private float azimuth = 0f;
        private float currectAzimuth = 0f;

        private ImageView image;

        // record the compass picture angle turned
        private float currentDegree = 0f;

        // device sensor manager
        private SensorManager mSensorManager;

        TextView tvHeading;


        @SuppressLint("ObsoleteSdkInt")
        protected void onCreate(Bundle savedInstanceState) {
                super.onCreate(savedInstanceState);
                setContentView(R.layout.lunokhod2);
                getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);

                light = findViewById(R.id.light);
                sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);
                lightSensor = sensorManager.getDefaultSensor(TYPE_LIGHT);
                textView = findViewById(R.id.lighttext);
                speed = findViewById(R.id.speed);
                magnit = findViewById(R.id.magnittext);
                // разпосзнать формат
                DecimalFormatSymbols symbols = new DecimalFormatSymbols(Locale.ROOT);
                symbols.setDecimalSeparator('.');
                DECIMAL_FORMATTER = new DecimalFormat("#.000", symbols);
                xTextView = findViewById(R.id.gravityX);
                yTextView = findViewById(R.id.gravityY);
                zTextView = findViewById(R.id.gravityZ);
                ImageView = (ImageView)findViewById(R.id.compass);

                image = (ImageView) findViewById(R.id.compass);

                tvHeading  = (TextView)findViewById(R.id.tvHeading);



                // initialize your android device sensor capabilities
                mSensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);

                sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);

                if(sensorManager.getDefaultSensor(Sensor.TYPE_GRAVITY)!= null)
                {
                        mGravity = sensorManager.getDefaultSensor(Sensor.TYPE_GRAVITY);
                        isGravitySensorPresent = true;
                } else {
                        xTextView.setText("Датчик остутсвует");
                        isGravitySensorPresent = false;
                }

                if(Build.VERSION.SDK_INT >= VERSION_CODES.M && checkSelfPermission(Manifest.permission.ACCESS_FINE_LOCATION)
                        !=PackageManager.PERMISSION_GRANTED) {
                        requestPermissions(new String[]{Manifest.permission.ACCESS_FINE_LOCATION}, 1000);
                }
                else{
                        doSpeed(); //если есть все разрешеня, выполняем программу
                }

                this.updateSpeed(null);


                if (lightSensor == null) {
                        Toast.makeText(this, "Датчик отсутсвует", Toast.LENGTH_SHORT).show();
                }

                maxValue = lightSensor.getMaximumRange();

                lightEventListener = new SensorEventListener() {
                        @Override
                        public void onSensorChanged(SensorEvent event) {
                                float value = event.values[0];
                                textView.setText( value + "лк");
                                int newValue = (int) (255 * value / maxValue);
                                light.setBackgroundColor(Color.rgb(newValue, newValue, newValue));

                        }

                        @Override
                        public void onAccuracyChanged(Sensor sensor, int accuracy) {

                        }
                };



                btn = (Button)findViewById( R.id.change);
                btn.setOnClickListener(new View.OnClickListener() {
                        @Override
                        public void onClick(View v) {
                                Intent i = new Intent(Lunokhod.this, MoonExpedition.class);
                                startActivity(i);
                                finish();
                        }
                });

        }

        @Override
        protected void onResume() {
                super.onResume();
                sensorManager.registerListener(lightEventListener, lightSensor, SensorManager.SENSOR_DELAY_FASTEST);
                sensorManager.registerListener((SensorEventListener) this,
                        sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD),
                        SensorManager.SENSOR_DELAY_NORMAL);

                if(sensorManager.getDefaultSensor(Sensor.TYPE_GRAVITY)!=null);
                sensorManager.registerListener(this, mGravity, SensorManager.SENSOR_DELAY_FASTEST);

                mSensorManager.registerListener(this, mSensorManager.getDefaultSensor(Sensor.TYPE_ORIENTATION),
                        SensorManager.SENSOR_DELAY_GAME);
        }

        @SuppressLint("SetTextI18n")
        @Override
        public void onSensorChanged(SensorEvent event) {
                if (event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD) {
                        //даем значение xyz
                        float magX = event.values[0];
                        float magY = event.values[1];
                        float magZ = event.values[2];

                        double magnitude = Math.sqrt((magX * magX) + (magY * magY) + (magZ * magZ));
//            float magnitudeF = (float) magnitude;

                        magnit.setText(DECIMAL_FORMATTER.format(magnitude) + " \u00B5Тесла");
                }
                xTextView.setText(event.values[0]+ "М/c²");
                yTextView.setText(event.values[1]+ "М/c²");
                zTextView.setText(event.values[2]+ "М/c²");

                float degree = Math.round(event.values[0]);

                tvHeading.setText((int) degree);

                RotateAnimation ra = new RotateAnimation(
                        currentDegree,
                        -degree,
                        Animation.RELATIVE_TO_SELF, 0.5f,
                        Animation.RELATIVE_TO_SELF,
                        0.5f);

                ra.setDuration(210);

                ra.setFillAfter(true);

                image.startAnimation(ra);
                currentDegree = -degree;
                        }


        @Override
        public void onAccuracyChanged(Sensor sensor, int accuracy) {

        }

        @Override
        protected void onPause() {
                super.onPause();
                sensorManager.unregisterListener(lightEventListener);
                sensorManager.unregisterListener(this);
                if(sensorManager.getDefaultSensor(Sensor.TYPE_GRAVITY)!=null);
                sensorManager.unregisterListener(this, mGravity);
                sensorManager.unregisterListener(this);

                mSensorManager.unregisterListener(this);
        }