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     System.out.println("Enter CameraFeeds constructor");
  22     server = CameraServer.getInstance();
  23     climberCam = server.addAxisCamera("ClimberCam", "10.35.1.11");
  24     intakeCam = server.startAutomaticCapture();
  25     usbCamName = intakeCam.getName();
  26     axisCamName = climberCam.getName();
  27     curCam = climberCam;
  28     changeCam(curCam);
  29     System.out.println("Leaving CameraFeeds constructor");
  30   }
  31
  32   public static CameraFeeds getCameraFeeds() {
  33     System.out.println("Enter CameraFeeds.getCameraFeeds");
  34     if (cameraFeeds == null) {
  35       cameraFeeds = new CameraFeeds();
  36     }
  37     System.out.println("Leaving CameraFeeds.getCameraFeeds");
  38     return cameraFeeds;
  39   }
  40
  41   public void init() {
  42     System.out.println("Initializing...");
  43   }
  44
  45   public void toggleCamera() {
  46     System.out.println("enter toggleCamera");
  47     if (curCam.equals(intakeCam)) {
  48       changeCam(climberCam);
  49       curCam = climberCam;
  50       System.out
  51           .println("Switching to climber camera, curCam = " + curCam.getName());
  52     } else if (curCam.equals(climberCam)) {
  53       changeCam(intakeCam);
  54       curCam = intakeCam;
  55       System.out
  56           .println("Switching to intake camera, curCam = " + curCam.getName());
  57     }
  58   }
  59
  60   /**
  61    *
  62    * Change the camera to get image from to a different one
  63    *
  64    * newId for camera
  65    */
  66   public void changeCam(VideoSource cam) {
  67     System.out.println("Changing cameras...");
  68     server.getVideo(cam);
  69   }
  70 }