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.Image;
   4
   5 import edu.wpi.cscore.AxisCamera;
   6 import edu.wpi.cscore.UsbCamera;
   7 import edu.wpi.cscore.VideoSource;
   8 import edu.wpi.first.wpilibj.CameraServer;
   9
  10 public class CameraFeeds {
  11   // private final int intakeCam;
  12   // private final int climberCam;
  13   private Image frame;
  14   private VideoSource curCam;
  15   private CameraServer server;
  16   private static UsbCamera intakeCam;
  17   private static AxisCamera climberCam;
  18   private static String usbCamName;
  19   private static String axisCamName;
  20
  21   @SuppressWarnings("deprecation")
  22   public CameraFeeds(/* Joystick Button */) {
  23     // Get camera ids by supplying camera name ex 'cam0', found on roborio web
  24     // interface
  25     /*
  26      * intakeCam =
  27      * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
  28      * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
  29      * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
  30      * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
  31      * intakeCam; // Img that will contain camera img frame =
  32      * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
  33      * we'll give the img to server = CameraServer.getInstance();
  34      * server.setSize(Constants.CameraFeeds.imgQuality);
  35      */
  36
  37     server = CameraServer.getInstance();
  38     climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
  39     intakeCam = server.startAutomaticCapture();
  40     curCam = intakeCam;
  41     usbCamName = intakeCam.getName();
  42     axisCamName = climberCam.getName();
  43
  44     // server = CameraServer.getInstance();
  45     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  46     // cameraFeeds = new CameraFeeds();
  47   }
  48
  49   public void init() {
  50     changeCam(intakeCam);
  51   }
  52
  53   public void toggleCamera() {
  54     if (curCam.equals(intakeCam)) {
  55       changeCam(climberCam);
  56       curCam = climberCam;
  57     }
  58
  59     if (curCam.equals(climberCam)) {
  60       changeCam(intakeCam);
  61       curCam = intakeCam;
  62     }
  63   }
  64
  65   /**
  66    *
  67    * Change the camera to get imgs from to a different one
  68    *
  69    * @param newId
  70    *          for camera
  71    */
  72   public void changeCam(VideoSource cam) {
  73     server.removeCamera(axisCamName);
  74     server.removeCamera(usbCamName);
  75     server.addCamera(cam);
  76   }
  77 }