Try to understand why axis camera does turn on while toggling.

diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
index 15ea3695efe43ba65a1743d32568fb9898c5ebda..f5d0384121d24ef8663d339f8e62ed8bb377f603 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -33,12 +33,12 @@ public class CameraFeeds {
      * server.setSize(Constants.CameraFeeds.imgQuality);
      */
 
+    usbCamName = intakeCam.getName();
+    axisCamName = climberCam.getName();
     server = CameraServer.getInstance();
-    climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
+    climberCam = server.addAxisCamera(axisCamName, "10.35.1.11");
     intakeCam = server.startAutomaticCapture();
     curCam = intakeCam;
-    usbCamName = intakeCam.getName();
-    axisCamName = climberCam.getName();
 
     // server = CameraServer.getInstance();
     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
@@ -54,23 +54,20 @@ public class CameraFeeds {
   }
 
   public void init() {
-    changeCam(climberCam);
+    changeCam(intakeCam);
   }
 
   public void toggleCamera() {
     if (curCam.equals(intakeCam)) {
-      changeCam(climberCam);
+      // changeCam(climberCam);
       curCam = climberCam;
-      System.out.println("Switching to climber camera.");
-      return;
-    }
-
-    if (curCam.equals(climberCam)) {
-      changeCam(intakeCam);
+      // System.out.println("Switching to climber camera.");
+    } else if (curCam.equals(climberCam)) {
+      // changeCam(intakeCam);
       curCam = intakeCam;
-      System.out.println("Switching to intake camera.");
-      return;
+      // System.out.println("Switching to intake camera.");
     }
+    changeCam(curCam);
   }
 
   /**
@@ -80,8 +77,18 @@ public class CameraFeeds {
    * newId for camera
    */
   public void changeCam(VideoSource cam) {
-    server.removeCamera(axisCamName);
-    server.removeCamera(usbCamName);
-    server.addCamera(cam);
+    server.removeCamera(curCam.getName());
+    if (curCam.equals(intakeCam)) {
+      server.addCamera(intakeCam);
+      System.out.println("Switching to climber camera.");
+      return;
+    }
+
+    if (curCam.equals(climberCam)) {
+      server.addAxisCamera(axisCamName, "10.35.1.11");
+      // server.addCamera(climberCam);
+      System.out.println("Switching to intake camera.");
+      return;
+    }
   }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 6a99c9756c08e66da78a81fc1d96eea9b04da88f..65f555e15b5b181cc001231c9be31e73e277c51f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -39,11 +39,6 @@ public class OI {
 
     toggleCameraFeeds.whenReleased(new ToggleCameraFeed());
 
-    toggleCameraFeeds = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_CAMERA_FEEDS);
-
-    toggleCameraFeeds.whenReleased(new ToggleCameraFeed());
-
   }
 
   public static OI getOI() {

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index d4f5d946eb9e987828350b694c6b0f550f3d4174..9efe44f0480b4291a5e9aa5c8275847745b856b1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -26,25 +26,11 @@ public class Robot extends IterativeRobot {
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
 
-    // usbCamera = CameraServer.getInstance().startAutomaticCapture();
-
-    // cameraServer2 = CameraServer;getInstance();
-    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
-
     cameraServer2 = CameraServer.getInstance();
     axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
 
     cameraFeeds = new CameraFeeds();
 
-    // usbCamera = CameraServer.getInstance().startAutomaticCapture();
-    // CameraServer.getInstance().startAutomaticCapture();
-    // cameraServer2 = CameraServer.getInstance();
-    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
-
-    // cameraFeeds = new CameraFeeds();
-
-    cameraFeeds = new CameraFeeds();
-
   }
 
   public static DriveTrain getDriveTrain() {
@@ -78,16 +64,11 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
-    cameraFeeds.init();
-
     cameraFeeds.init();
-
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }