challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/CameraFeeds.java

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