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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 { | |
50a075d8 RH |
9 | // private final int intakeCam; |
10 | // private final int climberCam; | |
4dff9cc3 | 11 | private VideoSource curCam; |
409d6878 | 12 | private CameraServer server; |
50a075d8 RH |
13 | private static UsbCamera intakeCam; |
14 | private static AxisCamera climberCam; | |
4dff9cc3 RH |
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 */) { |
85c0135e RH |
21 | usbCamName = intakeCam.getName(); |
22 | axisCamName = climberCam.getName(); | |
409d6878 | 23 | server = CameraServer.getInstance(); |
85c0135e | 24 | climberCam = server.addAxisCamera(axisCamName, "10.35.1.11"); |
4dff9cc3 | 25 | intakeCam = server.startAutomaticCapture(); |
9ea6a533 | 26 | curCam = climberCam; |
409d6878 | 27 | } |
7638f542 | 28 | |
4bc0cb18 | 29 | public static CameraFeeds getCameraFeeds() { |
7638f542 RH |
30 | if (cameraFeeds == null) { |
31 | cameraFeeds = new CameraFeeds(); | |
32 | } | |
33 | return cameraFeeds; | |
34 | ||
4bc0cb18 | 35 | } |
409d6878 ME |
36 | |
37 | public void init() { | |
fb2aaf9c | 38 | changeCam(climberCam); |
409d6878 ME |
39 | } |
40 | ||
4dff9cc3 | 41 | public void toggleCamera() { |
fb2aaf9c | 42 | System.out.println("enter toggleCamera"); |
4dff9cc3 | 43 | if (curCam.equals(intakeCam)) { |
fb2aaf9c | 44 | changeCam(climberCam); |
4dff9cc3 | 45 | curCam = climberCam; |
fb2aaf9c | 46 | System.out.println("Switching to climber camera."); |
85c0135e | 47 | } else if (curCam.equals(climberCam)) { |
fb2aaf9c | 48 | changeCam(intakeCam); |
4dff9cc3 | 49 | curCam = intakeCam; |
fb2aaf9c | 50 | System.out.println("Switching to intake camera."); |
4dff9cc3 | 51 | } |
409d6878 ME |
52 | } |
53 | ||
54 | /** | |
50a075d8 | 55 | * |
4bc0cb18 | 56 | * Change the camera to get image from to a different one |
409d6878 | 57 | * |
7638f542 | 58 | * newId for camera |
409d6878 | 59 | */ |
4dff9cc3 | 60 | public void changeCam(VideoSource cam) { |
9ea6a533 | 61 | server.removeCamera(curCam.getName()); |
4dff9cc3 | 62 | server.addCamera(cam); |
409d6878 ME |
63 | } |
64 | } |