X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2FCameraFeeds.java;h=94501567cbac31e47e2ef70a9da5ae4815b3763b;hb=93d8373fe56e8036848f7d092855cb0819702b50;hp=ac72556eace3ca4d220091f9c8fa0170f847b9a6;hpb=9ea6a533269dd1a8f9f684b3bbd90ae4b17478db;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
index ac72556..9450156 100755
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -19,13 +19,15 @@ public class CameraFeeds {
   @SuppressWarnings("deprecation")
   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();
-
   }
 
   public static CameraFeeds getCameraFeeds() {
@@ -43,18 +45,15 @@ public class CameraFeeds {
   public void toggleCamera() {
     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);
   }
 
   /**
@@ -64,6 +63,19 @@ public class CameraFeeds {
    * newId for camera
    */
   public void changeCam(VideoSource cam) {
+    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);