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     usbCamName = intakeCam.getName();
  22     axisCamName = climberCam.getName();
  23     server = CameraServer.getInstance();
  24     climberCam = server.addAxisCamera(axisCamName, "10.35.1.11");
  25     intakeCam = server.startAutomaticCapture();
  26     curCam = climberCam;
  27   }
  28
  29   public static CameraFeeds getCameraFeeds() {
  30     if (cameraFeeds == null) {
  31       cameraFeeds = new CameraFeeds();
  32     }
  33     return cameraFeeds;
  34
  35   }
  36
  37   public void init() {
  38     changeCam(climberCam);
  39   }
  40
  41   public void toggleCamera() {
  42     System.out.println("enter toggleCamera");
  43     if (curCam.equals(intakeCam)) {
  44       changeCam(climberCam);
  45       curCam = climberCam;
  46       System.out.println("Switching to climber camera.");
  47     } else if (curCam.equals(climberCam)) {
  48       changeCam(intakeCam);
  49       curCam = intakeCam;
  50       System.out.println("Switching to intake camera.");
  51     }
  52   }
  53
  54   /**
  55    *
  56    * Change the camera to get image from to a different one
  57    *
  58    * newId for camera
  59    */
  60   public void changeCam(VideoSource cam) {
  61     server.removeCamera(curCam.getName());
  62     server.addCamera(cam);
  63   }
  64 }