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