From cdcbf5c68a506914a1f9960ed7dd820be707b7e3 Mon Sep 17 00:00:00 2001
From: Rayan Hirech <ramine411@gmail.com>
Date: Sat, 4 Feb 2017 14:22:36 -0800
Subject: [PATCH] Commiting so I can push.

---
 .../frc/team3501/robot/CameraFeeds.java       | 47 +++++++++++--------
 src/org/usfirst/frc/team3501/robot/Robot.java | 12 ++---
 2 files changed, 33 insertions(+), 26 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
index b5e6feb..855d32a 100755
--- a/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
+++ b/src/org/usfirst/frc/team3501/robot/CameraFeeds.java
@@ -8,27 +8,33 @@ import edu.wpi.cscore.UsbCamera;
 import edu.wpi.first.wpilibj.CameraServer;
 
 public class CameraFeeds {
-  private final int intakeCam;
-  private final int climberCam;
+  // private final int intakeCam;
+  // private final int climberCam;
+  private Image frame;
   private int curCam;
   private CameraServer server;
-  // private static UsbCamera intakeCam;
-  // private static AxisCamera climberCam;
+  private static UsbCamera intakeCam;
+  private static AxisCamera climberCam;
 
   @SuppressWarnings("deprecation")
-  public CameraFeeds() {
+  public CameraFeeds(/* Joystick Button */) {
     // Get camera ids by supplying camera name ex '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;
-    // Img that will contain camera img
-    frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
-    // Server that we'll give the img to
+    /*
+     * intakeCam =
+     * NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameCenter,
+     * NIVision.IMAQdxCameraControlMode.CameraControlModeController); climberCam
+     * = NIVision.IMAQdxOpenCamera(Constants.CameraFeeds.camNameRight,
+     * NIVision.IMAQdxCameraControlMode.CameraControlModeController); curCam =
+     * intakeCam; // Img that will contain camera img frame =
+     * NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0); // Server that
+     * we'll give the img to server = CameraServer.getInstance();
+     * server.setSize(Constants.CameraFeeds.imgQuality);
+     */
+    intakeCam = CameraServer.getInstance().startAutomaticCapture();
+    CameraServer.getInstance().startAutomaticCapture();
     server = CameraServer.getInstance();
-    server.setSize(Constants.CameraFeeds.imgQuality);
+    climberCam = server.addAxisCamera("axisCamera", "10.35.1.11");
 
     // server = CameraServer.getInstance();
     // axisCamera = cameraServer2.addAxisCamera("axisCamera", "10.35.1.11");
@@ -58,16 +64,17 @@ public class CameraFeeds {
   }
 
   /**
+   *
    * Change the camera to get imgs from to a different one
    *
    * @param newId
    *          for camera
    */
-  public void changeCam(int newId) {
-    NIVision.IMAQdxStopAcquisition(curCam);
-    NIVision.IMAQdxConfigureGrab(newId);
-    NIVision.IMAQdxStartAcquisition(newId);
-    curCam = newId;
+  public void changeCam(/* int newId */) {
+    // NIVision.IMAQdxStopAcquisition(curCam);
+    // NIVision.IMAQdxConfigureGrab(newId);
+    // NIVision.IMAQdxStartAcquisition(newId);
+    // curCam = newId;
   }
 
   /**
@@ -75,6 +82,6 @@ public class CameraFeeds {
    */
   public void updateCam() {
     NIVision.IMAQdxGrab(curCam, frame, 1);
-    server.setSize(frame);
+    server.setImage(frame);
   }
 }
diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index a5f15fb..e3b2058 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -5,7 +5,6 @@ import org.usfirst.frc.team3501.robot.subsystems.Intake;
 import org.usfirst.frc.team3501.robot.subsystems.Shooter;
 
 import edu.wpi.cscore.AxisCamera;
-import edu.wpi.cscore.UsbCamera;
 import edu.wpi.first.wpilibj.CameraServer;
 import edu.wpi.first.wpilibj.IterativeRobot;
 import edu.wpi.first.wpilibj.command.Scheduler;
@@ -15,7 +14,7 @@ public class Robot extends IterativeRobot {
   private static Shooter shooter;
   private static OI oi;
   private static Intake intake;
-  private static UsbCamera usbCamera;
+  // private static UsbCamera usbCamera;
   private static CameraServer cameraServer2;
   private static AxisCamera axisCamera;
   private static CameraFeeds cameraFeeds;
@@ -26,10 +25,11 @@ public class Robot extends IterativeRobot {
     oi = OI.getOI();
     shooter = Shooter.getShooter();
     intake = Intake.getIntake();
-    usbCamera = CameraServer.getInstance().startAutomaticCapture();
-    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();
   }
 
   public static DriveTrain getDriveTrain() {
-- 
2.30.2