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
   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;
  10
  11 public class CameraFeeds {
  12   // private final int intakeCam;
  13   // private final int climberCam;
  14   private Image frame;
  15   private String curCam = "intake";
  16   private CameraServer server;
  17   private static UsbCamera intakeCam;
  18   private static AxisCamera climberCam;
  19
  20   @SuppressWarnings("deprecation")
  21   public CameraFeeds(/* Joystick Button */) {
  22     // Get camera ids by supplying camera name ex 'cam0', found on roborio web
  23     // interface
  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 =
  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);
  34      */
  35     intakeCam = CameraServer.getInstance().startAutomaticCapture();
  36     CameraServer.getInstance().startAutomaticCapture();
  37     server = CameraServer.getInstance();
  38     climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
  39
  40     // server = CameraServer.getInstance();
  41     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  42     // cameraFeeds = new CameraFeeds();
  43   }
  44
  45   public void init() {
  46     changeCam(intakeCam);
  47   }
  48
  49   public void run()
  50   {
  51     if(/*add test for toggle*/)
  52       changeCam(intakeCam);
  53
  54     if(/*add test for toggle*/)
  55       changeCam(climberCam);
  56
  57     updateCam();
  58   }
  59
  60   /**
  61    * Stop aka close camera stream
  62    */
  63   public void end() {
  64     // NIVision.IMAQdxStopAcquisition(curCam);
  65   }
  66
  67   /**
  68    *
  69    * Change the camera to get imgs from to a different one
  70    *
  71    * @param newId
  72    *          for camera
  73    */
  74   public void changeCam(/* int newId */) {
  75     if (curCam == "climber") {
  76       server.removeCamera(/* Axis Camera name */);
  77       server.addCamera(intakeCam);
  78       curCam = "intake";
  79     } else if (curCam == "intake") {
  80       server.removeCamera(/* Usb Camera name */);
  81       server.addCamera(climberCam);
  82       curCam = "climber";
  83     }
  84     // NIVision.IMAQdxStopAcquisition(curCam);
  85     // NIVision.IMAQdxConfigureGrab(newId);
  86     // NIVision.IMAQdxStartAcquisition(newId);
  87     // curCam = newId;
  88   }
  89
  90   /**
  91    * Get the img from current camera and give it to the server
  92    */
  93   public void updateCam() {
  94     // NIVision.IMAQdxGrab(curCam, frame, 1);
  95     // server.setImage(frame);
  96   }
  97 }