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409d6878 ME |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
2ada01fd RH |
3 | import edu.wpi.cscore.AxisCamera; |
4 | import edu.wpi.cscore.UsbCamera; | |
b7b608d6 | 5 | import edu.wpi.cscore.VideoSource; |
409d6878 ME |
6 | import edu.wpi.first.wpilibj.CameraServer; |
7 | ||
8 | public class CameraFeeds { | |
50a075d8 RH |
9 | // private final int intakeCam; |
10 | // private final int climberCam; | |
4dff9cc3 | 11 | private VideoSource curCam; |
409d6878 | 12 | private CameraServer server; |
50a075d8 RH |
13 | private static UsbCamera intakeCam; |
14 | private static AxisCamera climberCam; | |
4dff9cc3 RH |
15 | private static String usbCamName; |
16 | private static String axisCamName; | |
4bc0cb18 | 17 | private static CameraFeeds cameraFeeds = null; |
409d6878 | 18 | |
fbc1210e | 19 | @SuppressWarnings("deprecation") |
9ea6a533 | 20 | private CameraFeeds(/* Joystick Button */) { |
6aa639be | 21 | System.out.println("Enter CameraFeeds constructor"); |
409d6878 | 22 | server = CameraServer.getInstance(); |
6aa639be | 23 | climberCam = server.addAxisCamera("ClimberCam", "10.35.1.11"); |
4dff9cc3 | 24 | intakeCam = server.startAutomaticCapture(); |
6aa639be | 25 | usbCamName = intakeCam.getName(); |
26 | axisCamName = climberCam.getName(); | |
9ea6a533 | 27 | curCam = climberCam; |
6aa639be | 28 | changeCam(curCam); |
409d6878 | 29 | } |
7638f542 | 30 | |
4bc0cb18 | 31 | public static CameraFeeds getCameraFeeds() { |
7638f542 RH |
32 | if (cameraFeeds == null) { |
33 | cameraFeeds = new CameraFeeds(); | |
34 | } | |
35 | return cameraFeeds; | |
36 | ||
4bc0cb18 | 37 | } |
409d6878 ME |
38 | |
39 | public void init() { | |
6aa639be | 40 | // changeCam(climberCam); |
409d6878 ME |
41 | } |
42 | ||
4dff9cc3 | 43 | public void toggleCamera() { |
fb2aaf9c | 44 | System.out.println("enter toggleCamera"); |
4dff9cc3 | 45 | if (curCam.equals(intakeCam)) { |
fb2aaf9c | 46 | changeCam(climberCam); |
4dff9cc3 | 47 | curCam = climberCam; |
6aa639be | 48 | System.out |
49 | .println("Switching to climber camera, curCam = " + curCam.getName()); | |
85c0135e | 50 | } else if (curCam.equals(climberCam)) { |
fb2aaf9c | 51 | changeCam(intakeCam); |
4dff9cc3 | 52 | curCam = intakeCam; |
6aa639be | 53 | System.out |
54 | .println("Switching to intake camera, curCam = " + curCam.getName()); | |
4dff9cc3 | 55 | } |
409d6878 ME |
56 | } |
57 | ||
58 | /** | |
50a075d8 | 59 | * |
4bc0cb18 | 60 | * Change the camera to get image from to a different one |
409d6878 | 61 | * |
7638f542 | 62 | * newId for camera |
409d6878 | 63 | */ |
4dff9cc3 | 64 | public void changeCam(VideoSource cam) { |
9ea6a533 | 65 | server.removeCamera(curCam.getName()); |
4dff9cc3 | 66 | server.addCamera(cam); |
409d6878 ME |
67 | } |
68 | } |