X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FCameraFeeds.java;h=3ca36b32a355f839baee3ff82c2da49ec1121ce2;hb=b7b608d6e910666a101456fc3ce4ff1ec5b41d54;hp=c354594529961f38b6b252a003885bc4f740c830;hpb=1cac6c82d7cd42d210d46ae0edb59bc10f44ba26;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
index c354594..3ca36b3 100755
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -2,28 +2,44 @@ package org.usfirst.frc.team3501.robot;
 
 import com.ni.vision.NIVision;
 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 int curCam;
+  // private final int intakeCam;
+  // private final int climberCam;
   private Image frame;
+  private String curCam = "intake";
   private CameraServer server;
+  private static UsbCamera intakeCam;
+  private static AxisCamera climberCam;
 
-  public CameraFeeds() {
+  @SuppressWarnings("deprecation")
+  public CameraFeeds(/* Joystick Button */) {
     // Get camera ids by supplying camera name ex 'cam0', found on roborio web
     // interface
-    intakeCam = NIVision.IMAQdxOpenCamera(Config.CameraFeeds.camNameCenter,
-        NIVision.IMAQdxCameraControlMode.CameraControlModeController);
-    climberCam = NIVision.IMAQdxOpenCamera(Config.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.setQuality(Config.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() {
@@ -45,27 +61,37 @@ public class CameraFeeds {
    * Stop aka close camera stream
    */
   public void end() {
-    NIVision.IMAQdxStopAcquisition(curCam);
+    // NIVision.IMAQdxStopAcquisition(curCam);
   }
 
   /**
+   *
    * 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 == "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);
+    // curCam = newId;
   }
 
   /**
    * 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);
   }
 }