**Camera Feed Display**

Cameras are crucial to competitions since many parts of the field are not directly visible to the driver.
You can read about how to use the [https://first.wpi.edu/FRC/roborio/beta/docs/java/edu/wpi/first/wpilibj/CameraServer.html CameraServer] class on [https://wpilib.screenstepslive.com/s/currentCS/m/vision/l/669166-using-the-cameraserver-on-the-roborio ScreenStepsLive].

1. Open FRC VSCode
2. Create a new FRC project.
3. Type the following into Robot.java

{{{
import edu.wpi.first.cameraserver.CameraServer;
}}}

4. Inside robotInit(), configure the camera with:

{{{
CameraServer.getInstance().startAutomaticCapture();
}}}

You can see the complete Robot.java code [wiki:ControlSystems/SoftwareTeam/Training/GettingStarted/Cameras/ExampleCode1 here]

5. You can view the camera video in the smart dashboard or on the shuffleboard.
   1. To view the camera feed on the smart dashboard, use the pull-down chooser in the lower left
      corner to select USB Camera 0.
   1. To display the camera feed using shuffleboard, read about it [https://wpilib.screenstepslive.com/s/currentCS/m/shuffleboard/l/814689-tour-of-shuffleboard here]

Smartdashboard and shuffleboard can be used interchangeably, however,shuffleboard is far more user friendly and visually appealing.

6. To display the camera open up Shuffleboard and read [https://wpilib.screenstepslive.com/s/currentCS/m/shuffleboard/l/831042-displaying-camera-streams this]

** Multiple Cameras **
It's often desirable for a robot to have more than one camera; the camera server supports this and you can select cameras using a game controller button or even automatically when the robot changes direction.  You can read about multiple camera selection [https://wpilib.screenstepslive.com/s/currentCS/m/vision/l/708159-using-multiple-cameras here]

** Vision processing (OpenCV) **
It's possible to process the video stream in software to identify game pieces and targets.  This requires use of vision processing libraries such as OpenCV; you can read about it on screenstepslive [https://wpilib.screenstepslive.com/s/currentCS/m/vision/l/682778-read-and-process-video-cameraserver-class here].  Team 2537 generally doesn't process video on the !RoboRIO because it lack sufficient memory and CPU power; instead we use a Raspberry Pi which has several times more memory and processing power.

** Drawing Overlays **
Another way to make driving by camera easier is to create overlays on the video feed such as cross-hairs to show where a shooter is aimed.  Doing this requires using the NIVision libraries and software provided with [https://forums.ni.com/t5/FIRST-Robotics-Competition/Download-FRC-Software-Here/ta-p/3734559?profile.language=en FRC Update Suite].  Note: ask a mentor for the team's serial number. You may also need the [https://www.ni.com/en-us/support/downloads/drivers/download/packaged.vision-acquisition-software.329473.html acquisition software] and import the com.ni.vision.NIVision.*