From 85c0135e3b2fd0da59a855b65a99511798157845 Mon Sep 17 00:00:00 2001 From: Rayan Hirech Date: Thu, 9 Feb 2017 17:29:57 -0800 Subject: [PATCH] Try to understand why axis camera does turn on while toggling. --- .../frc/team3501/robot/CameraFeeds.java | 39 +++++++++++-------- src/org/usfirst/frc/team3501/robot/OI.java | 5 --- src/org/usfirst/frc/team3501/robot/Robot.java | 19 --------- 3 files changed, 23 insertions(+), 40 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java index 15ea369..f5d0384 100755 --- 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 6a99c97..65f555e 100644 --- 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 d4f5d94..9efe44f 100644 --- 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(); - } } -- 2.30.2