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.first.wpilibj.CameraServer;
   9
  10 public class CameraFeeds {
  11   // private final int intakeCam;
  12   // private final int climberCam;
  13   private Image frame;
  14   private boolean curCam = true;
  15   private CameraServer server;
  16   private static UsbCamera intakeCam;
  17   private static AxisCamera climberCam;
  18
  19   @SuppressWarnings("deprecation")
  20   public CameraFeeds(/* Joystick Button */) {
  21     // Get camera ids by supplying camera name ex 'cam0', found on roborio web
  22     // interface
  23     /*
  24      * intakeCam =
  25      * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
  26      * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
  27      * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
  28      * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
  29      * intakeCam; // Img that will contain camera img frame =
  30      * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
  31      * we'll give the img to server = CameraServer.getInstance();
  32      * server.setSize(Constants.CameraFeeds.imgQuality);
  33      */
  34     intakeCam = CameraServer.getInstance().startAutomaticCapture();
  35     CameraServer.getInstance().startAutomaticCapture();
  36     server = CameraServer.getInstance();
  37     climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
  38
  39     // server = CameraServer.getInstance();
  40     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  41     // cameraFeeds = new CameraFeeds();
  42   }
  43
  44   public void init() {
  45     changeCam(intakeCam);
  46   }
  47
  48   public void run()
  49   {
  50     if(/*add test for toggle*/)
  51       changeCam(intakeCam);
  52
  53     if(/*add test for toggle*/)
  54       changeCam(climberCam);
  55
  56     updateCam();
  57   }
  58
  59   /**
  60    * Stop aka close camera stream
  61    */
  62   public void end() {
  63     NIVision.IMAQdxStopAcquisition(curCam);
  64   }
  65
  66   /**
  67    *
  68    * Change the camera to get imgs from to a different one
  69    *
  70    * @param newId
  71    *          for camera
  72    */
  73   public void changeCam(/* int newId */) {
  74     if (curCam = true) {
  75       public void removeCamera(/*Axis Camera name*/);
  76       public void addCamera(VideoSource intakeCam);
  77       curCam = false;
  78     } else if (curCam = false) {
  79       public void removeCamera(/*Usb Camera name*/);
  80       public void addCamera(VideoSource climberCam);
  81       curCam = false;
  82     }
  83     // NIVision.IMAQdxStopAcquisition(curCam);
  84     // NIVision.IMAQdxConfigureGrab(newId);
  85     // NIVision.IMAQdxStartAcquisition(newId);
  86     // curCam = newId;
  87   }
  88
  89   /**
  90    * Get the img from current camera and give it to the server
  91    */
  92   public void updateCam() {
  93     NIVision.IMAQdxGrab(curCam, frame, 1);
  94     server.setImage(frame);
  95   }
  96 }