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409d6878 ME |
1 | package org.usfirst.frc.team3501.robot; |
2 | ||
2ada01fd RH |
3 | import edu.wpi.cscore.AxisCamera; |
4 | import edu.wpi.cscore.UsbCamera; | |
b7b608d6 | 5 | import edu.wpi.cscore.VideoSource; |
409d6878 ME |
6 | import edu.wpi.first.wpilibj.CameraServer; |
7 | ||
8 | public class CameraFeeds { | |
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9 | // private final int intakeCam; |
10 | // private final int climberCam; | |
4dff9cc3 | 11 | private VideoSource curCam; |
409d6878 | 12 | private CameraServer server; |
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13 | private static UsbCamera intakeCam; |
14 | private static AxisCamera climberCam; | |
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15 | private static String usbCamName; |
16 | private static String axisCamName; | |
4bc0cb18 | 17 | private static CameraFeeds cameraFeeds = null; |
409d6878 | 18 | |
fbc1210e | 19 | @SuppressWarnings("deprecation") |
9ea6a533 | 20 | private CameraFeeds(/* Joystick Button */) { |
55391ba3 | 21 | System.out.println("Enter CameraFeeds constructor"); |
409d6878 | 22 | server = CameraServer.getInstance(); |
6aa639be | 23 | climberCam = server.addAxisCamera("ClimberCam", "10.35.1.11"); |
4dff9cc3 | 24 | intakeCam = server.startAutomaticCapture(); |
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25 | usbCamName = intakeCam.getName(); |
26 | axisCamName = climberCam.getName(); | |
9ea6a533 | 27 | curCam = climberCam; |
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28 | changeCam(curCam); |
29 | System.out.println("Leaving CameraFeeds constructor"); | |
409d6878 | 30 | } |
7638f542 | 31 | |
4bc0cb18 | 32 | public static CameraFeeds getCameraFeeds() { |
55391ba3 | 33 | System.out.println("Enter CameraFeeds.getCameraFeeds"); |
7638f542 RH |
34 | if (cameraFeeds == null) { |
35 | cameraFeeds = new CameraFeeds(); | |
36 | } | |
55391ba3 | 37 | System.out.println("Leaving CameraFeeds.getCameraFeeds"); |
7638f542 | 38 | return cameraFeeds; |
4bc0cb18 | 39 | } |
409d6878 ME |
40 | |
41 | public void init() { | |
55391ba3 | 42 | System.out.println("Initializing..."); |
409d6878 ME |
43 | } |
44 | ||
4dff9cc3 | 45 | public void toggleCamera() { |
fb2aaf9c | 46 | System.out.println("enter toggleCamera"); |
4dff9cc3 | 47 | if (curCam.equals(intakeCam)) { |
fb2aaf9c | 48 | changeCam(climberCam); |
4dff9cc3 | 49 | curCam = climberCam; |
6aa639be | 50 | System.out |
51 | .println("Switching to climber camera, curCam = " + curCam.getName()); | |
85c0135e | 52 | } else if (curCam.equals(climberCam)) { |
fb2aaf9c | 53 | changeCam(intakeCam); |
4dff9cc3 | 54 | curCam = intakeCam; |
6aa639be | 55 | System.out |
56 | .println("Switching to intake camera, curCam = " + curCam.getName()); | |
4dff9cc3 | 57 | } |
409d6878 ME |
58 | } |
59 | ||
60 | /** | |
50a075d8 | 61 | * |
4bc0cb18 | 62 | * Change the camera to get image from to a different one |
409d6878 | 63 | * |
7638f542 | 64 | * newId for camera |
409d6878 | 65 | */ |
4dff9cc3 | 66 | public void changeCam(VideoSource cam) { |
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67 | System.out.println("Changing cameras..."); |
68 | server.getVideo(cam); | |
409d6878 ME |
69 | } |
70 | } |