Second attempt at camera server toggling.

[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 855d32a5bcbfe6935772af9a5ea5ce7f849ed6a9..3ca36b32a355f839baee3ff82c2da49ec1121ce2 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -5,13 +5,14 @@ import com.ni.vision.NIVision.Image;
 
 import edu.wpi.cscore.AxisCamera;
 import edu.wpi.cscore.UsbCamera;
+import edu.wpi.cscore.VideoSource;
 import edu.wpi.first.wpilibj.CameraServer;
 
 public class CameraFeeds {
   // private final int intakeCam;
   // private final int climberCam;
   private Image frame;
-  private int curCam;
+  private String curCam = "intake";
   private CameraServer server;
   private static UsbCamera intakeCam;
   private static AxisCamera climberCam;
@@ -60,7 +61,7 @@ public class CameraFeeds {
    * Stop aka close camera stream
    */
   public void end() {
-    NIVision.IMAQdxStopAcquisition(curCam);
+    // NIVision.IMAQdxStopAcquisition(curCam);
   }
 
   /**
@@ -71,6 +72,15 @@ public class CameraFeeds {
    *          for camera
    */
   public void changeCam(/* int newId */) {
+    if (curCam == "climber") {
+      server.removeCamera(/* Axis Camera name */);
+      server.addCamera(intakeCam);
+      curCam = "intake";
+    } else if (curCam == "intake") {
+      server.removeCamera(/* Usb Camera name */);
+      server.addCamera(climberCam);
+      curCam = "climber";
+    }
     // NIVision.IMAQdxStopAcquisition(curCam);
     // NIVision.IMAQdxConfigureGrab(newId);
     // NIVision.IMAQdxStartAcquisition(newId);
@@ -81,7 +91,7 @@ public class CameraFeeds {
    * Get the img from current camera and give it to the server
    */
   public void updateCam() {
-    NIVision.IMAQdxGrab(curCam, frame, 1);
-    server.setImage(frame);
+    // NIVision.IMAQdxGrab(curCam, frame, 1);
+    // server.setImage(frame);
   }
 }