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   private CameraFeeds(/* Joystick Button */) {
  21
  22     usbCamName = intakeCam.getName();
  23     axisCamName = climberCam.getName();
  24     server = CameraServer.getInstance();
  25     climberCam = server.addAxisCamera(axisCamName, "10.35.1.11");
  26     intakeCam = server.startAutomaticCapture();
  27     curCam = intakeCam;
  28     curCam = climberCam;
  29     usbCamName = intakeCam.getName();
  30     axisCamName = climberCam.getName();
  31   }
  32
  33   public static CameraFeeds getCameraFeeds() {
  34     if (cameraFeeds == null) {
  35       cameraFeeds = new CameraFeeds();
  36     }
  37     return cameraFeeds;
  38
  39   }
  40
  41   public void init() {
  42     changeCam(intakeCam);
  43   }
  44
  45   public void toggleCamera() {
  46     System.out.println("enter toggleCamer");
  47     if (curCam.equals(intakeCam)) {
  48       // changeCam(climberCam);
  49       curCam = climberCam;
  50       // System.out.println("Switching to climber camera.");
  51     } else if (curCam.equals(climberCam)) {
  52       // changeCam(intakeCam);
  53       curCam = intakeCam;
  54       // System.out.println("Switching to intake camera.");
  55     }
  56     changeCam(curCam);
  57   }
  58
  59   /**
  60    *
  61    * Change the camera to get image from to a different one
  62    *
  63    * newId for camera
  64    */
  65   public void changeCam(VideoSource cam) {
  66     server.removeCamera(curCam.getName());
  67     if (curCam.equals(intakeCam)) {
  68       server.addCamera(intakeCam);
  69       System.out.println("Switching to climber camera.");
  70       return;
  71     }
  72
  73     if (curCam.equals(climberCam)) {
  74       server.addAxisCamera(axisCamName, "10.35.1.11");
  75       // server.addCamera(climberCam);
  76       System.out.println("Switching to intake camera.");
  77       return;
  78     }
  79     System.out.println("change camera");
  80     server.removeCamera(curCam.getName());
  81     server.addCamera(cam);
  82   }
  83
  84   public String getCurrentCamName() {
  85     return curCam.getName();
  86   }
  87 }