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