Changes between Version 1 and Version 2 of ControlSystems/SoftwareTeam/Training/GettingStarted/CameraSwitching

Timestamp:

Feb 14, 2020, 12:53:10 AM (5 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/CameraSwitching

@@ -16 +16 @@
   @Override
   public void robotInit() {
-    cameras = new Cameras();
-    cameras.start();
+    cameras = new Cameras(); // create the Cameras thread
+    cameras.start();         // start thread and launch its run() method
   }
 }
@@ -30 +30 @@
 import edu.wpi.cscore.UsbCamera;
 import edu.wpi.first.wpilibj.XboxController;
-import edu.wpi.first.wpilibj.Timer;
 
 class Cameras extends Thread {
@@ -36 +35 @@
     UsbCamera      frontCam, rearCam;
     XboxController xbox;
-    Timer          debounce;
 
     public Cameras() {
+        // Camera server manages all cameras and streams
         camServer = CameraServer.getInstance();
-        frontCam = camServer.startAutomaticCapture("front", 0);
-        rearCam  = camServer.startAutomaticCapture("rear", 1);
-
-        xbox = new XboxController(0);
-        debounce = new Timer();
+        // Create and start front and rear cameras
+        frontCam  = camServer.startAutomaticCapture("front", 0);
+        rearCam   = camServer.startAutomaticCapture("rear", 1);
+        // Use Xbox controller to select camera stream
+        xbox      = new XboxController(0);
     }
 
     public void run() {
-        debounce.start();
         while (true) {
             if (xbox.getAButton()) {
-                if (debounce.hasPeriodPassed(0.5)) {
-                    if (camServer.getServer().getSource().getName().contentEquals("front")) {
-                        camServer.getServer().setSource(rearCam);
-                    } else {
-                        camServer.getServer().setSource(frontCam);
-                    }
-                    debounce.reset();
-                }
+                // A button selects front camera
+                camServer.getServer().setSource(frontCam);
+            }
+            if (xbox.getBButton()) {
+                // B button selects rear camera
+                camServer.getServer().setSource(rearCam);
             }
         }