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   public CameraFeeds(/* Joystick Button */) {
  21     // Get camera id by supplying camera name example 'cam0', found on roborio
  22     // 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; // Image that will contain camera image frame =
  31      * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
  32      * we'll give the image to server = CameraServer.getInstance();
  33      * server.setSize(Constants.CameraFeeds.imgQuality);
  34      */
  35
  36     server = CameraServer.getInstance();
  37     climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
  38     intakeCam = server.startAutomaticCapture();
  39     curCam = intakeCam;
  40     usbCamName = intakeCam.getName();
  41     axisCamName = climberCam.getName();
  42
  43     // server = CameraServer.getInstance();
  44     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  45     // cameraFeeds = new CameraFeeds();
  46   }
  47
  48   public static CameraFeeds getCameraFeeds() {
  49     if (cameraFeeds == null) {
  50       cameraFeeds = new CameraFeeds();
  51     }
  52     return cameraFeeds;
  53
  54   }
  55
  56   public void init() {
  57     changeCam(climberCam);
  58   }
  59
  60   public void toggleCamera() {
  61         System.out.println("enter toggleCamer");
  62     if (curCam.equals(intakeCam)) {
  63       changeCam(climberCam);
  64       curCam = climberCam;
  65       System.out.println("Switching to climber camera.");
  66       return;
  67     }
  68
  69     if (curCam.equals(climberCam)) {
  70       changeCam(intakeCam);
  71       curCam = intakeCam;
  72       System.out.println("Switching to intake camera.");
  73       return;
  74     }
  75   }
  76
  77   /**
  78    *
  79    * Change the camera to get image from to a different one
  80    *
  81    * newId for camera
  82    */
  83   public void changeCam(VideoSource cam) {
  84           System.out.println("change camera");
  85     server.removeCamera(axisCamName);
  86     server.removeCamera(usbCamName);
  87     server.addCamera(cam);
  88   }
  89 }