3ca36b32a355f839baee3ff82c2da49ec1121ce2
1 package org
.usfirst
.frc
.team3501
.robot
;
3 import com
.ni
.vision
.NIVision
;
4 import com
.ni
.vision
.NIVision
.Image
;
6 import edu
.wpi
.cscore
.AxisCamera
;
7 import edu
.wpi
.cscore
.UsbCamera
;
8 import edu
.wpi
.cscore
.VideoSource
;
9 import edu
.wpi
.first
.wpilibj
.CameraServer
;
11 public class CameraFeeds
{
12 // private final int intakeCam;
13 // private final int climberCam;
15 private String curCam
= "intake";
16 private CameraServer server
;
17 private static UsbCamera intakeCam
;
18 private static AxisCamera climberCam
;
20 @SuppressWarnings("deprecation")
21 public CameraFeeds(/* Joystick Button */) {
22 // Get camera ids by supplying camera name ex 'cam0', found on roborio web
26 * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
27 * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
28 * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
29 * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
30 * intakeCam; // Img that will contain camera img frame =
31 * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
32 * we'll give the img to server = CameraServer.getInstance();
33 * server.setSize(Constants.CameraFeeds.imgQuality);
35 intakeCam
= CameraServer
.getInstance().startAutomaticCapture();
36 CameraServer
.getInstance().startAutomaticCapture();
37 server
= CameraServer
.getInstance();
38 climberCam
= server
.addAxisCamera("axisCamera", "10.35.1.11");
40 // server = CameraServer.getInstance();
41 // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
42 // cameraFeeds = new CameraFeeds();
51 if(/*add test for toggle*/)
54 if(/*add test for toggle*/)
55 changeCam(climberCam
);
61 * Stop aka close camera stream
64 // NIVision.IMAQdxStopAcquisition(curCam);
69 * Change the camera to get imgs from to a different one
74 public void changeCam(/* int newId */) {
75 if (curCam
== "climber") {
76 server
.removeCamera(/* Axis Camera name */);
77 server
.addCamera(intakeCam
);
79 } else if (curCam
== "intake") {
80 server
.removeCamera(/* Usb Camera name */);
81 server
.addCamera(climberCam
);
84 // NIVision.IMAQdxStopAcquisition(curCam);
85 // NIVision.IMAQdxConfigureGrab(newId);
86 // NIVision.IMAQdxStartAcquisition(newId);
91 * Get the img from current camera and give it to the server
93 public void updateCam() {
94 // NIVision.IMAQdxGrab(curCam, frame, 1);
95 // server.setImage(frame);