Fix merge conflicts.

diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
index ac72556eace3ca4d220091f9c8fa0170f847b9a6..94501567cbac31e47e2ef70a9da5ae4815b3763b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -19,13 +19,15 @@ public class CameraFeeds {
   @SuppressWarnings("deprecation")
   private CameraFeeds(/* Joystick Button */) {
 
+    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;
     curCam = climberCam;
     usbCamName = intakeCam.getName();
     axisCamName = climberCam.getName();
-
   }
 
   public static CameraFeeds getCameraFeeds() {
@@ -43,18 +45,15 @@ public class CameraFeeds {
   public void toggleCamera() {
     System.out.println("enter toggleCamer");
     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);
   }
 
   /**
@@ -64,6 +63,19 @@ public class CameraFeeds {
    * newId for camera
    */
   public void changeCam(VideoSource 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;
+    }
     System.out.println("change camera");
     server.removeCamera(curCam.getName());
     server.addCamera(cam);

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 5082911be4703b6a55a674aad623f05b9507ab05..42a01369f5fae3ff15cfde14f648ad55fc2a3b9a 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,7 +1,6 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.commands.accessories.ToggleCameraFeed;
-import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
@@ -23,17 +22,16 @@ public class OI {
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
-    /*toggleWinch = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_WINCH_PORT);
-    toggleIndexWheel = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_INDEXWHEEL_PORT);
-    toggleFlyWheel = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_FLYWHEEL_PORT);
-
-    toggleGear = new JoystickButton(leftJoystick,
-        Constants.OI.TOGGLE_GEAR_PORT);
-    toggleGear.whenPressed(new ToggleGear());
-    */
+    /*
+     * toggleWinch = new JoystickButton(leftJoystick,
+     * Constants.OI.TOGGLE_WINCH_PORT); toggleIndexWheel = new
+     * JoystickButton(leftJoystick, Constants.OI.TOGGLE_INDEXWHEEL_PORT);
+     * toggleFlyWheel = new JoystickButton(leftJoystick,
+     * Constants.OI.TOGGLE_FLYWHEEL_PORT);
+     * 
+     * toggleGear = new JoystickButton(leftJoystick,
+     * Constants.OI.TOGGLE_GEAR_PORT); toggleGear.whenPressed(new ToggleGear());
+     */
 
     toggleCameraFeeds = new JoystickButton(leftJoystick,
         Constants.OI.TOGGLE_CAMERA_FEEDS);

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index d467182080a4343d91d6fd6bcefd22ca8310659e..e7c5e5b1928398f30bc31fd42c0c5bc43f87634f 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -25,7 +25,9 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
-
+    cameraServer2 = CameraServer.getInstance();
+    axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
+    cameraFeeds = new CameraFeeds();
     cameraFeeds = CameraFeeds.getCameraFeeds();
 
     // usbCamera = CameraServer.getInstance().startAutomaticCapture();
@@ -42,7 +44,6 @@ public class Robot extends IterativeRobot {
     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
 
     // cameraFeeds = new CameraFeeds();
-
   }
 
   public static DriveTrain getDriveTrain() {
@@ -80,12 +81,10 @@ public class Robot extends IterativeRobot {
 
   @Override
   public void teleopInit() {
-
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
-
   }
 }