On my system you are giving code line error
ModelUsuario modelUsuario = new ModelUsuario();
ControllerUsuario controllerUsuario = new ControllerUsuario();
//recebe a linha selecionada
int linha = this.jTableUsuarios.getSelectedRow();
int codigo = (Integer) jTableUsuarios.getValueAt(linha, 0); //erro aqui
I'm trying to throw the table data into a JTextField, but as I click the button this error appears 
Looking at your image, I'd say you're trying to grab the index of the selected row when you have no row selected, see Documentation :
public int getSelectedRow()Returns the index of the first selected row, -1 if no row is selected.
When you try to get the selected line with getValueAt() and index -1 it returns you a IndexOutOfBoundsException: Invalid index .
To solve check before getValueAt() if the index is greater than or equal to 0, otherwise treat the situation, for example displaying a message warning that the user must select a line before clicking the button.