fix ToggleCameraFeed command

diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
index 4e1d919dac54204bfa4f3adfc10de0c7697b22fa..ac72556eace3ca4d220091f9c8fa0170f847b9a6 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -17,32 +17,15 @@ public class CameraFeeds {
   private static CameraFeeds cameraFeeds = null;
 
   @SuppressWarnings("deprecation")
-  public CameraFeeds(/* Joystick Button */) {
-    // Get camera id by supplying camera name example 'cam0', found on roborio
-    // web
-    // interface
-    /*
-     * intakeCam =
-     * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
-     * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
-     * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
-     * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
-     * intakeCam; // Image that will contain camera image frame =
-     * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
-     * we'll give the image to server = CameraServer.getInstance();
-     * server.setSize(Constants.CameraFeeds.imgQuality);
-     */
+  private CameraFeeds(/* Joystick Button */) {
 
     server = CameraServer.getInstance();
     climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
     intakeCam = server.startAutomaticCapture();
-    curCam = intakeCam;
+    curCam = climberCam;
     usbCamName = intakeCam.getName();
     axisCamName = climberCam.getName();
 
-    // server = CameraServer.getInstance();
-    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
-    // cameraFeeds = new CameraFeeds();
   }
 
   public static CameraFeeds getCameraFeeds() {
@@ -54,11 +37,11 @@ public class CameraFeeds {
   }
 
   public void init() {
-    changeCam(climberCam);
+    changeCam(intakeCam);
   }
 
   public void toggleCamera() {
-       System.out.println("enter toggleCamer");
+    System.out.println("enter toggleCamer");
     if (curCam.equals(intakeCam)) {
       changeCam(climberCam);
       curCam = climberCam;
@@ -81,9 +64,12 @@ public class CameraFeeds {
    * newId for camera
    */
   public void changeCam(VideoSource cam) {
-         System.out.println("change camera");
-    server.removeCamera(axisCamName);
-    server.removeCamera(usbCamName);
+    System.out.println("change camera");
+    server.removeCamera(curCam.getName());
     server.addCamera(cam);
   }
+
+  public String getCurrentCamName() {
+    return curCam.getName();
+  }
 }

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index b0e32a72bff3b55fa6b898bcd2400821e2c6dd06..d467182080a4343d91d6fd6bcefd22ca8310659e 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -26,15 +26,15 @@ public class Robot extends IterativeRobot {
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
 
+    cameraFeeds = CameraFeeds.getCameraFeeds();
+
     // 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();
+    // cameraServer2 = CameraServer.getInstance();
+    // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
 
     // usbCamera = CameraServer.getInstance().startAutomaticCapture();
     // CameraServer.getInstance().startAutomaticCapture();
@@ -53,6 +53,10 @@ public class Robot extends IterativeRobot {
     return Shooter.getShooter();
   }
 
+  public static CameraFeeds getCameraFeeds() {
+    return cameraFeeds;
+  }
+
   public static OI getOI() {
     return OI.getOI();
   }
@@ -77,8 +81,6 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopInit() {
 
-    cameraFeeds.init();
-
   }
 
   @Override

diff --git a/src/org/usfirst/frc/team3501/robot/commands/accessories/ToggleCameraFeed.java b/src/org/usfirst/frc/team3501/robot/commands/accessories/ToggleCameraFeed.java
index b42b961da06db003f116382fdbda8a61c66b8884..4515b8284b74218ac3e8f48532ef17d5486cc217 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/commands/accessories/ToggleCameraFeed.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/accessories/ToggleCameraFeed.java
@@ -1,20 +1,24 @@
 package org.usfirst.frc.team3501.robot.commands.accessories;
 
 import org.usfirst.frc.team3501.robot.CameraFeeds;
+import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 public class ToggleCameraFeed extends Command {
 
-       public void init() {
-               CameraFeeds cf = CameraFeeds.getCameraFeeds();
-               
-               cf.toggleCamera();
-       }
-       
-       @Override
-       protected boolean isFinished() {
-               return true;
-       }
+  @Override
+  protected void execute() {
+    CameraFeeds cf = Robot.getCameraFeeds();
+    System.out.println(cf.getCurrentCamName());
+    cf.toggleCamera();
+    System.out.println(cf.getCurrentCamName());
+
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
 
 }