import com.ni.vision.NIVision;
import com.ni.vision.NIVision.Image;
+
+import edu.wpi.cscore.AxisCamera;
+import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;
public class CameraFeeds {
- private final int intakeCam;
- private final int climberCam;
- private int curCam;
+ // private final int intakeCam;
+ // private final int climberCam;
private Image frame;
+ private boolean curCam = true;
private CameraServer server;
+ private static UsbCamera intakeCam;
+ private static AxisCamera climberCam;
@SuppressWarnings("deprecation")
- public CameraFeeds() {
+ public CameraFeeds(/* Joystick Button */) {
// Get camera ids by supplying camera name ex 'cam0', found on roborio web
// interface
- intakeCam = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
- NIVision.IMAQdxCameraControlMode.CameraControlModeController);
- climberCam = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
- NIVision.IMAQdxCameraControlMode.CameraControlModeController);
- curCam = intakeCam;
- // Img that will contain camera img
- frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
- // Server that we'll give the img to
+ /*
+ * intakeCam =
+ * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
+ * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
+ * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
+ * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
+ * intakeCam; // Img that will contain camera img frame =
+ * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
+ * we'll give the img to server = CameraServer.getInstance();
+ * server.setSize(Constants.CameraFeeds.imgQuality);
+ */
+ intakeCam = CameraServer.getInstance().startAutomaticCapture();
+ CameraServer.getInstance().startAutomaticCapture();
server = CameraServer.getInstance();
- server.setSize(Constants.CameraFeeds.imgQuality);
+ climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
+
+ // server = CameraServer.getInstance();
+ // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+ // cameraFeeds = new CameraFeeds();
}
public void init() {
}
/**
+ *
* Change the camera to get imgs from to a different one
*
* @param newId
* for camera
*/
- public void changeCam(int newId) {
- NIVision.IMAQdxStopAcquisition(curCam);
- NIVision.IMAQdxConfigureGrab(newId);
- NIVision.IMAQdxStartAcquisition(newId);
- curCam = newId;
+ public void changeCam(/* int newId */) {
+ if (curCam = true) {
+ public void removeCamera(/*Axis Camera name*/);
+ public void addCamera(VideoSource intakeCam);
+ curCam = false;
+ } else if (curCam = false) {
+ public void removeCamera(/*Usb Camera name*/);
+ public void addCamera(VideoSource climberCam);
+ curCam = false;
+ }
+ // NIVision.IMAQdxStopAcquisition(curCam);
+ // NIVision.IMAQdxConfigureGrab(newId);
+ // NIVision.IMAQdxStartAcquisition(newId);
+ // curCam = newId;
}
/**