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
  20   @SuppressWarnings("deprecation")
  21   public CameraFeeds(/* Joystick Button */) {
  22     // Get camera id by supplying camera name example 'cam0', found on roborio web
  23     // interface
  24     /*
  25      * intakeCam =
  26      * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
  27      * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
  28      * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
  29      * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
  30      * intakeCam; // Image that will contain camera image frame =
  31      * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
  32      * we'll give the image to server = CameraServer.getInstance();
  33      * server.setSize(Constants.CameraFeeds.imgQuality);
  34      */
  35
  36     server = CameraServer.getInstance();
  37     climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
  38     intakeCam = server.startAutomaticCapture();
  39     curCam = intakeCam;
  40     usbCamName = intakeCam.getName();
  41     axisCamName = climberCam.getName();
  42
  43     // server = CameraServer.getInstance();
  44     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
  45     // cameraFeeds = new CameraFeeds();
  46   }
  47
  48   public static CameraFeeds getCameraFeeds() {
  49           if (cameraFeeds == null) {
  50                   cameraFeeds = new CameraFeeds();
  51           }
  52           return cameraFeeds;
  53
  54
  55   }
  56
  57   public void init() {
  58     changeCam(intakeCam);
  59   }
  60
  61   public void toggleCamera() {
  62     if (curCam.equals(intakeCam)) {
  63       changeCam(climberCam);
  64       curCam = climberCam;
  65     }
  66
  67     if (curCam.equals(climberCam)) {
  68       changeCam(intakeCam);
  69       curCam = intakeCam;
  70     }
  71   }
  72
  73   /**
  74    *
  75    * Change the camera to get image from to a different one
  76    *
  77    * newId
  78    *          for camera
  79    */
  80   public void changeCam(VideoSource cam) {
  81     server.removeCamera(axisCamName);
  82     server.removeCamera(usbCamName);
  83     server.addCamera(cam);
  84   }
  85 }