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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; | |
409d6878 ME |
5 | import edu.wpi.first.wpilibj.CameraServer; |
6 | ||
7 | public class CameraFeeds { | |
50a075d8 RH |
8 | // private final int intakeCam; |
9 | // private final int climberCam; | |
570ccbd9 | 10 | private String curCam; |
409d6878 | 11 | private CameraServer server; |
50a075d8 RH |
12 | private static UsbCamera intakeCam; |
13 | private static AxisCamera climberCam; | |
4dff9cc3 RH |
14 | private static String usbCamName; |
15 | private static String axisCamName; | |
4bc0cb18 | 16 | private static CameraFeeds cameraFeeds = null; |
409d6878 | 17 | |
fbc1210e | 18 | @SuppressWarnings("deprecation") |
9ea6a533 | 19 | private CameraFeeds(/* Joystick Button */) { |
55391ba3 | 20 | System.out.println("Enter CameraFeeds constructor"); |
409d6878 | 21 | server = CameraServer.getInstance(); |
6aa639be | 22 | climberCam = server.addAxisCamera("ClimberCam", "10.35.1.11"); |
4dff9cc3 | 23 | intakeCam = server.startAutomaticCapture(); |
55391ba3 RH |
24 | usbCamName = intakeCam.getName(); |
25 | axisCamName = climberCam.getName(); | |
570ccbd9 RH |
26 | curCam = "intakeCam"; |
27 | changeCam(); | |
55391ba3 | 28 | System.out.println("Leaving CameraFeeds constructor"); |
409d6878 | 29 | } |
7638f542 | 30 | |
4bc0cb18 | 31 | public static CameraFeeds getCameraFeeds() { |
55391ba3 | 32 | System.out.println("Enter CameraFeeds.getCameraFeeds"); |
7638f542 RH |
33 | if (cameraFeeds == null) { |
34 | cameraFeeds = new CameraFeeds(); | |
35 | } | |
55391ba3 | 36 | System.out.println("Leaving CameraFeeds.getCameraFeeds"); |
7638f542 | 37 | return cameraFeeds; |
4bc0cb18 | 38 | } |
409d6878 ME |
39 | |
40 | public void init() { | |
55391ba3 | 41 | System.out.println("Initializing..."); |
409d6878 ME |
42 | } |
43 | ||
4dff9cc3 | 44 | public void toggleCamera() { |
570ccbd9 | 45 | changeCam(); |
409d6878 ME |
46 | } |
47 | ||
48 | /** | |
50a075d8 | 49 | * |
4bc0cb18 | 50 | * Change the camera to get image from to a different one |
409d6878 | 51 | * |
7638f542 | 52 | * newId for camera |
409d6878 | 53 | */ |
570ccbd9 RH |
54 | public void changeCam() { |
55 | System.out.println("enter toggleCamera"); | |
56 | if (curCam == "intakeCam") { | |
57 | server.getVideo(axisCamName); | |
58 | curCam = "climberCam"; | |
59 | System.out.println("Switching to climber camera, curCam = " + curCam); | |
60 | } else if (curCam == "climberCam") { | |
61 | server.getVideo(usbCamName); | |
62 | curCam = "intakeCam"; | |
63 | System.out.println("Switching to intake camera, curCam = " + curCam); | |
64 | } | |
409d6878 ME |
65 | } |
66 | } |