Changes between Version 5 and Version 6 of ControlSystems/SoftwareTeam/Training/GettingStarted/CameraSwitching

Timestamp:

Feb 15, 2020, 12:18:38 PM (5 years ago)

Author:

David Albert

Comment:

--

ControlSystems/SoftwareTeam/Training/GettingStarted/CameraSwitching

@@ -10 +10 @@
 
 import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.XboxController;
 
 public class Robot extends TimedRobot {
   Cameras cameras;
+  XboxController xbox;
 
   @Override
   public void robotInit() {
-    cameras = new Cameras(); // create the Cameras thread
-    cameras.start();         // start thread and launch its run() method
+    xbox = new XboxController(0); // create xbox controller object
+    cameras = new Cameras();      // create the Cameras thread
+    cameras.start();              // start thread and launch its run() method
+  }
+
+  @Override
+  public void robotPeriodic() {
+    if (xbox.getAButton()) {
+      cameras.selectFront();
+    } else if (xbox.getBButton()) {
+      cameras.selectRear();
+    }
   }
 }
@@ -29 +41 @@
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.cscore.UsbCamera;
-import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.cscore.VideoSource.ConnectionStrategy;
+
 
 class Cameras extends Thread {
     CameraServer   camServer;
     UsbCamera      frontCam, rearCam;
-    XboxController xbox;
 
     public Cameras() {
         // Camera server manages all cameras and streams
         camServer = CameraServer.getInstance();
-        // 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);
+        // Start serving front camera (USB port 0)
+        frontCam = camServer.startAutomaticCapture("cameras", 0);
+        // Create additional camera(s)
+        rearCam   = new UsbCamera("rear", 1);
+
+        // keep video streams open for fast switching
+        //frontCam.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
+        //rearCam.setConnectionStrategy(ConnectionStrategy.kKeepOpen);
     }
 
+    public void selectFront() {
+        camServer.getServer().setSource(frontCam);
+    }
+    
+    public void selectRear() {
+        camServer.getServer().setSource(rearCam);
+    }
+
+    // Run method is invoked when start method is called
     public void run() {
         while (true) {
-            if (xbox.getAButton()) {
-                // A button selects front camera
-                camServer.getServer().setSource(frontCam);
-            }
-            if (xbox.getBButton()) {
-                // B button selects rear camera
-                camServer.getServer().setSource(rearCam);
-            }
+            // run forever
         }
     }