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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") |
50a075d8 | 20 | public CameraFeeds(/* Joystick Button */) { |
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21 | // Get camera id by supplying camera name example 'cam0', found on roborio |
22 | // web | |
409d6878 | 23 | // interface |
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24 | /* |
25 | * intakeCam = | |
26 | * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter, | |
27 | * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam | |
28 | * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight, | |
29 | * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam = | |
4bc0cb18 | 30 | * intakeCam; // Image that will contain camera image frame = |
50a075d8 | 31 | * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that |
4bc0cb18 | 32 | * we'll give the image to server = CameraServer.getInstance(); |
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33 | * server.setSize(Constants.CameraFeeds.imgQuality); |
34 | */ | |
4dff9cc3 | 35 | |
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36 | usbCamName = intakeCam.getName(); |
37 | axisCamName = climberCam.getName(); | |
409d6878 | 38 | server = CameraServer.getInstance(); |
85c0135e | 39 | climberCam = server.addAxisCamera(axisCamName, "10.35.1.11"); |
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40 | intakeCam = server.startAutomaticCapture(); |
41 | curCam = intakeCam; | |
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42 | |
43 | // server = CameraServer.getInstance(); | |
44 | // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11"); | |
45 | // cameraFeeds = new CameraFeeds(); | |
409d6878 | 46 | } |
7638f542 | 47 | |
4bc0cb18 | 48 | public static CameraFeeds getCameraFeeds() { |
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49 | if (cameraFeeds == null) { |
50 | cameraFeeds = new CameraFeeds(); | |
51 | } | |
52 | return cameraFeeds; | |
53 | ||
4bc0cb18 | 54 | } |
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55 | |
56 | public void init() { | |
85c0135e | 57 | changeCam(intakeCam); |
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58 | } |
59 | ||
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60 | public void toggleCamera() { |
61 | if (curCam.equals(intakeCam)) { | |
85c0135e | 62 | // changeCam(climberCam); |
4dff9cc3 | 63 | curCam = climberCam; |
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64 | // System.out.println("Switching to climber camera."); |
65 | } else if (curCam.equals(climberCam)) { | |
66 | // changeCam(intakeCam); | |
4dff9cc3 | 67 | curCam = intakeCam; |
85c0135e | 68 | // System.out.println("Switching to intake camera."); |
4dff9cc3 | 69 | } |
85c0135e | 70 | changeCam(curCam); |
409d6878 ME |
71 | } |
72 | ||
73 | /** | |
50a075d8 | 74 | * |
4bc0cb18 | 75 | * Change the camera to get image from to a different one |
409d6878 | 76 | * |
7638f542 | 77 | * newId for camera |
409d6878 | 78 | */ |
4dff9cc3 | 79 | public void changeCam(VideoSource cam) { |
85c0135e RH |
80 | server.removeCamera(curCam.getName()); |
81 | if (curCam.equals(intakeCam)) { | |
82 | server.addCamera(intakeCam); | |
83 | System.out.println("Switching to climber camera."); | |
84 | return; | |
85 | } | |
86 | ||
87 | if (curCam.equals(climberCam)) { | |
88 | server.addAxisCamera(axisCamName, "10.35.1.11"); | |
89 | // server.addCamera(climberCam); | |
90 | System.out.println("Switching to intake camera."); | |
91 | return; | |
92 | } | |
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93 | } |
94 | } |