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   public CameraFeeds(/* Joystick Button */) {
  21     // Get camera id by supplying camera name example 'cam0', found on roborio
  22     // 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     usbCamName = intakeCam.getName();
  37     axisCamName = climberCam.getName();
  38     server = CameraServer.getInstance();
  39     climberCam = server.addAxisCamera(axisCamName, "10.35.1.11");
  40     intakeCam = server.startAutomaticCapture();
  41     curCam = intakeCam;
  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   public void init() {
  57     changeCam(intakeCam);
  58   }
  59
  60   public void toggleCamera() {
  61     if (curCam.equals(intakeCam)) {
  62       // changeCam(climberCam);
  63       curCam = climberCam;
  64       // System.out.println("Switching to climber camera.");
  65     } else if (curCam.equals(climberCam)) {
  66       // changeCam(intakeCam);
  67       curCam = intakeCam;
  68       // System.out.println("Switching to intake camera.");
  69     }
  70     changeCam(curCam);
  71   }
  72
  73   /**
  74    *
  75    * Change the camera to get image from to a different one
  76    *
  77    * newId for camera
  78    */
  79   public void changeCam(VideoSource cam) {
  80     server.removeCamera(curCam.getName());
  81     if (curCam.equals(intakeCam)) {
  82       server.addCamera(intakeCam);
  83       System.out.println("Switching to climber camera.");
  84       return;
  85     }
  86
  87     if (curCam.equals(climberCam)) {
  88       server.addAxisCamera(axisCamName, "10.35.1.11");
  89       // server.addCamera(climberCam);
  90       System.out.println("Switching to intake camera.");
  91       return;
  92     }
  93   }
  94 }