Fix code to swap camera feed

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

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 66b7f47dd13c1b47c9858dfbeeb1f67ff64f3610..3778ad0e30dbc7d9ff561a2f502ed927610234ca 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -50,8 +50,16 @@ public class Robot extends IterativeRobot {
   }
 
   public static void swapCameraFeed() {
-    UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
-    UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
+    if (Intake.getIntake().getIntakeCameraFeed() == 1) {
+      UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
+      UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
+      Intake.getIntake().setIntakeCameraFeed(0);
+    } else {
+      UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+      UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
+      Intake.getIntake().setIntakeCameraFeed(1);
+    }
+
   }
 
   // If the gear values do not match in the left and right piston, then they are
@@ -59,10 +67,7 @@ public class Robot extends IterativeRobot {
   @Override
   public void autonomousInit() {
     driveTrain.setHighGear();
-<<<<<<< HEAD
     driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
-=======
->>>>>>> Add code to toggle agitator pistons in RunIndexWheelContinuous
   }
 
   @Override