Fix code to swap camera feed

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 5e9bd3cbdb496727cd9722efc1630c5ad13c2228..3778ad0e30dbc7d9ff561a2f502ed927610234ca 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -50,8 +50,16 @@ public class Robot extends IterativeRobot {
   }
 
   public static void swapCameraFeed() {
-    UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
-    UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
+    if (Intake.getIntake().getIntakeCameraFeed() == 1) {
+      UsbCamera climberCam = server.startAutomaticCapture("climbercam", 1);
+      UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 0);
+      Intake.getIntake().setIntakeCameraFeed(0);
+    } else {
+      UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
+      UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
+      Intake.getIntake().setIntakeCameraFeed(1);
+    }
+
   }
 
   // If the gear values do not match in the left and right piston, then they are

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Intake.java b/src/org/usfirst/frc/team3501/robot/subsystems/Intake.java
index ed47fa702a80446343a32362991cb40fa3e8e41a..b008518e5673897bfd6e33c0c6f6cca02c7cfef1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Intake.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Intake.java
@@ -16,6 +16,8 @@ public class Intake extends Subsystem {
   public static final double INTAKE_SPEED = 1;
   public static final double REVERSE_SPEED = -1;
 
+  private int intakeCameraFeed = 1;
+
   public Intake() {
     intakeWheel = new CANTalon(Constants.Intake.INTAKE_ROLLER_PORT);
   }
@@ -63,6 +65,14 @@ public class Intake extends Subsystem {
     setSpeed(0);
   }
 
+  public int getIntakeCameraFeed() {
+    return this.intakeCameraFeed;
+  }
+
+  public void setIntakeCameraFeed(int intakeCamFeed) {
+    this.intakeCameraFeed = intakeCamFeed;
+  }
+
   /***
    * Purpose is to release all balls from the ball container to the outside of
    * the robot. Reverses intake wheel by setting wheel speed to reverse speed.