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 a8c48643019bffbf7786a505e4264316be539b42..3778ad0e30dbc7d9ff561a2f502ed927610234ca 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -16,6 +16,7 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
+  private static CameraServer server;
 
   @Override
   public void robotInit() {
@@ -24,7 +25,7 @@ public class Robot extends IterativeRobot {
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
 
-    CameraServer server = CameraServer.getInstance();
+    server = CameraServer.getInstance();
     UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
     UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
 
@@ -32,6 +33,7 @@ public class Robot extends IterativeRobot {
   }
 
   public static DriveTrain getDriveTrain() {
+
     return DriveTrain.getDriveTrain();
   }
 
@@ -47,6 +49,19 @@ public class Robot extends IterativeRobot {
     return Intake.getIntake();
   }
 
+  public static void swapCameraFeed() {
+    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
   // both set to high gear
   @Override