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 com.ni.vision.NIVision;
   4 import com.ni.vision.NIVision.Image;
   5 import edu.wpi.first.wpilibj.CameraServer;
   6
   7 public class CameraFeeds {
   8   private final int intakeCam;
   9   private final int climberCam;
  10   private int curCam;
  11   private Image frame;
  12   private CameraServer server;
  13
  14   @SuppressWarnings("deprecation")
  15   public CameraFeeds() {
  16     // Get camera ids by supplying camera name ex 'cam0', found on roborio web
  17     // interface
  18     intakeCam = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
  19         NIVision.IMAQdxCameraControlMode.CameraControlModeController);
  20     climberCam = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
  21         NIVision.IMAQdxCameraControlMode.CameraControlModeController);
  22     curCam = intakeCam;
  23     // Img that will contain camera img
  24     frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
  25     // Server that we'll give the img to
  26     server = CameraServer.getInstance();
  27     server.setSize(Constants.CameraFeeds.imgQuality);
  28   }
  29
  30   public void init() {
  31     changeCam(intakeCam);
  32   }
  33
  34   public void run()
  35   {
  36     if(/*add test for toggle*/)
  37       changeCam(intakeCam);
  38
  39     if(/*add test for toggle*/)
  40       changeCam(climberCam);
  41
  42     updateCam();
  43   }
  44
  45   /**
  46    * Stop aka close camera stream
  47    */
  48   public void end() {
  49     NIVision.IMAQdxStopAcquisition(curCam);
  50   }
  51
  52   /**
  53    * Change the camera to get imgs from to a different one
  54    *
  55    * @param newId
  56    *          for camera
  57    */
  58   public void changeCam(int newId) {
  59     NIVision.IMAQdxStopAcquisition(curCam);
  60     NIVision.IMAQdxConfigureGrab(newId);
  61     NIVision.IMAQdxStartAcquisition(newId);
  62     curCam = newId;
  63   }
  64
  65   /**
  66    * Get the img from current camera and give it to the server
  67    */
  68   public void updateCam() {
  69     NIVision.IMAQdxGrab(curCam, frame, 1);
  70     server.setImage(frame);
  71   }
  72 }