Fix small bug in toggle.

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / CameraFeeds.java

diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
index 50ee60697a732766dcc6aff9ce7f37db7fa03a3d..15ea3695efe43ba65a1743d32568fb9898c5ebda 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -1,7 +1,5 @@
 package org.usfirst.frc.team3501.robot;
 
-import com.ni.vision.NIVision.Image;
-
 import edu.wpi.cscore.AxisCamera;
 import edu.wpi.cscore.UsbCamera;
 import edu.wpi.cscore.VideoSource;
@@ -10,17 +8,18 @@ import edu.wpi.first.wpilibj.CameraServer;
 public class CameraFeeds {
   // private final int intakeCam;
   // private final int climberCam;
-  private Image frame;
   private VideoSource curCam;
   private CameraServer server;
   private static UsbCamera intakeCam;
   private static AxisCamera climberCam;
   private static String usbCamName;
   private static String axisCamName;
+  private static CameraFeeds cameraFeeds = null;
 
   @SuppressWarnings("deprecation")
   public CameraFeeds(/* Joystick Button */) {
-    // Get camera ids by supplying camera name ex 'cam0', found on roborio web
+    // Get camera id by supplying camera name example 'cam0', found on roborio
+    // web
     // interface
     /*
      * intakeCam =
@@ -28,9 +27,9 @@ public class CameraFeeds {
      * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
      * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
      * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
-     * intakeCam; // Img that will contain camera img frame =
+     * intakeCam; // Image that will contain camera image frame =
      * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
-     * we'll give the img to server = CameraServer.getInstance();
+     * we'll give the image to server = CameraServer.getInstance();
      * server.setSize(Constants.CameraFeeds.imgQuality);
      */
 
@@ -46,28 +45,39 @@ public class CameraFeeds {
     // cameraFeeds = new CameraFeeds();
   }
 
+  public static CameraFeeds getCameraFeeds() {
+    if (cameraFeeds == null) {
+      cameraFeeds = new CameraFeeds();
+    }
+    return cameraFeeds;
+
+  }
+
   public void init() {
-    changeCam(intakeCam);
+    changeCam(climberCam);
   }
 
   public void toggleCamera() {
     if (curCam.equals(intakeCam)) {
       changeCam(climberCam);
       curCam = climberCam;
+      System.out.println("Switching to climber camera.");
+      return;
     }
 
     if (curCam.equals(climberCam)) {
       changeCam(intakeCam);
       curCam = intakeCam;
+      System.out.println("Switching to intake camera.");
+      return;
     }
   }
 
   /**
    *
-   * Change the camera to get imgs from to a different one
+   * Change the camera to get image from to a different one
    *
-   * @param newId
-   *          for camera
+   * newId for camera
    */
   public void changeCam(VideoSource cam) {
     server.removeCamera(axisCamName);