Fix merge conflicts.

[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 4e1d919dac54204bfa4f3adfc10de0c7697b22fa..94501567cbac31e47e2ef70a9da5ae4815b3763b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -17,32 +17,17 @@ public class CameraFeeds {
   private static CameraFeeds cameraFeeds = null;
 
   @SuppressWarnings("deprecation")
-  public CameraFeeds(/* Joystick Button */) {
-    // Get camera id by supplying camera name example '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; // Image that will contain camera image frame =
-     * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
-     * we'll give the image to server = CameraServer.getInstance();
-     * server.setSize(Constants.CameraFeeds.imgQuality);
-     */
+  private CameraFeeds(/* Joystick Button */) {
 
+    usbCamName = intakeCam.getName();
+    axisCamName = climberCam.getName();
     server = CameraServer.getInstance();
-    climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
+    climberCam = server.addAxisCamera(axisCamName, "10.35.1.11");
     intakeCam = server.startAutomaticCapture();
     curCam = intakeCam;
+    curCam = climberCam;
     usbCamName = intakeCam.getName();
     axisCamName = climberCam.getName();
-
-    // server = CameraServer.getInstance();
-    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
-    // cameraFeeds = new CameraFeeds();
   }
 
   public static CameraFeeds getCameraFeeds() {
@@ -54,24 +39,21 @@ public class CameraFeeds {
   }
 
   public void init() {
-    changeCam(climberCam);
+    changeCam(intakeCam);
   }
 
   public void toggleCamera() {
-       System.out.println("enter toggleCamer");
+    System.out.println("enter toggleCamer");
     if (curCam.equals(intakeCam)) {
-      changeCam(climberCam);
+      // changeCam(climberCam);
       curCam = climberCam;
-      System.out.println("Switching to climber camera.");
-      return;
-    }
-
-    if (curCam.equals(climberCam)) {
-      changeCam(intakeCam);
+      // System.out.println("Switching to climber camera.");
+    } else if (curCam.equals(climberCam)) {
+      // changeCam(intakeCam);
       curCam = intakeCam;
-      System.out.println("Switching to intake camera.");
-      return;
+      // System.out.println("Switching to intake camera.");
     }
+    changeCam(curCam);
   }
 
   /**
@@ -81,9 +63,25 @@ public class CameraFeeds {
    * newId for camera
    */
   public void changeCam(VideoSource cam) {
-         System.out.println("change camera");
-    server.removeCamera(axisCamName);
-    server.removeCamera(usbCamName);
+    server.removeCamera(curCam.getName());
+    if (curCam.equals(intakeCam)) {
+      server.addCamera(intakeCam);
+      System.out.println("Switching to climber camera.");
+      return;
+    }
+
+    if (curCam.equals(climberCam)) {
+      server.addAxisCamera(axisCamName, "10.35.1.11");
+      // server.addCamera(climberCam);
+      System.out.println("Switching to intake camera.");
+      return;
+    }
+    System.out.println("change camera");
+    server.removeCamera(curCam.getName());
     server.addCamera(cam);
   }
+
+  public String getCurrentCamName() {
+    return curCam.getName();
+  }
 }