Java CameraServer.getInstance方法代码示例

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
public void robotInit() {
		
	RobotMap.init();
	
	drivetrain = new Drivetrain();
	climber = new Climber();
	// fuel = new Fuel();
	gear = new Gear();
	
	oi = new OI();
	
	// initializes camera server
	server = CameraServer.getInstance();
	// cameraInit();
	// server.startAutomaticCapture(0);
	
	// autonomousCommand = (Command) new AutoMiddleHook();
	autonomousCommand = (Command) new AutoBaseline();
	
	// resets all sensors
	resetAllSensors();

	if (RobotConstants.isTestingEnvironment) updateTestingEnvironment();
	updateSensorDisplay();
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
public SpatialAwarenessSubsystem() {
  super("SpatialAwarenessSubsystem");

  cameraServer = CameraServer.getInstance();
  gearCamera = cameraServer.startAutomaticCapture(0);
  gearCamera.setResolution(IMG_WIDTH, IMG_HEIGHT);
  gearCamera.setFPS(30);
  gearCamera.setBrightness(7);
  gearCamera.setExposureManual(30);
  gearVideo = cameraServer.getVideo(gearCamera);

  visionProcessing = new VisionProcessing();

  leftUltrasonic = new AnalogInput(RobotMap.ANALOG_ULTRASONIC_LEFT);
  rightUltrasonic = new AnalogInput(RobotMap.ANALOG_ULTRASONIC_RIGHT);

  leftUltrasonicKalman = new SimpleKalman(1.4d, 64d, leftUltrasonic.getAverageVoltage() * ULTRASONIC_VOLTS_TO_METERS);
  rightUltrasonicKalman = new SimpleKalman(1.4d, 64d, rightUltrasonic.getAverageVoltage() * ULTRASONIC_VOLTS_TO_METERS);

  navX = new AHRS(SPI.Port.kMXP);

  System.out.println("SpatialAwarenessSubsystem constructor finished");
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
RobotMap.init();
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrain = new DriveTrain();
    shooter = new Shooter();
    lift = new Lift();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    // OI must be constructed after subsystems. If the OI creates Commands
    //(which it very likely will), subsystems are not guaranteed to be
    // constructed yet. Thus, their requires() statements may grab null
    // pointers. Bad news. Don't move it.
    oi = new OI();

    // instantiate the command used for the autonomous period
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

    autonomousCommand = new AutonomousCommand();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
    CameraServer cameraServer = CameraServer.getInstance();
    System.out.println("Camera sources:" + VideoSource.enumerateSources().length);
    for (VideoSource videoSource : VideoSource.enumerateSources()) {
    	System.out.println("Camera: " + videoSource.getName());
    }
    
    UsbCamera  camera= cameraServer.startAutomaticCapture();
    System.out.println("Started camera capture.");
 // Hard coded camera address
    cameraServer.addAxisCamera("AxisCam ye", "10.26.67.42");
  //  visionThread = new VisionThread(camera,new GripPipeline());

    driveTrainChooser = new SendableChooser();
    driveTrainChooser.addDefault("default PWM", DriveTrain.DriveMode.PWM);
    for (DriveTrain.DriveMode driveMode : DriveTrain.DriveMode.values()) {
        driveTrainChooser.addObject(driveMode.name(), driveMode);
    }
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
RobotMap.init();
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrain = new DriveTrain();
    shooter = new Shooter();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    // OI must be constructed after subsystems. If the OI creates Commands
    //(which it very likely will), subsystems are not guaranteed to be
    // constructed yet. Thus, their requires() statements may grab null
    // pointers. Bad news. Don't move it.
    oi = new OI();

    // instantiate the command used for the autonomous period
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

    autonomousCommand = new AutonomousCommand();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
    CameraServer cameraServer = CameraServer.getInstance();
    System.out.println("Camera sources:" + VideoSource.enumerateSources().length);
    for (VideoSource videoSource : VideoSource.enumerateSources()) {
    	System.out.println("Camera: " + videoSource.getName());
    }
    
    UsbCamera  camera= cameraServer.startAutomaticCapture();
    System.out.println("Started camera capture.");
 // Hard coded camera address
    cameraServer.addAxisCamera("AxisCam ye", "10.26.67.42");
  //  visionThread = new VisionThread(camera,new GripPipeline());    
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
	RobotMap.init();
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrain = new DriveTrain();
    pDP = new PDP();
    intake = new Intake();
    climber = new Climber();
    shooter = new Shooter();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    // OI must be constructed after subsystems. If the OI creates Commands
    //(which it very likely will), subsystems are not guaranteed to be
    // constructed yet. Thus, their requires() statements may grab null
    // pointers. Bad news. Don't move it.
    oi = new OI();
    
    // initializes networktable
    table = NetworkTable.getTable("HookContoursReport");
    
    // sets up camera switcher
    server = CameraServer.getInstance();
    server.startAutomaticCapture(0);
    // cameraInit();
    
    // set up sendable chooser for autonomous
    autoChooser = new SendableChooser();
    autoChooser.addDefault("Middle Hook", new AUTOMiddleHook());
    autoChooser.addObject("Left Hook", new AUTOLeftHook());
    autoChooser.addObject("RightHook", new AUTORightHook());
    SmartDashboard.putData("Auto Chooser", autoChooser);
    
    	
    // instantiate the command used for the autonomous period
    
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
    

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
// @Override
public void robotInit() {
	
	System.out.println("1");
	
	RobotMap.init();
	
	drivetrain = new Drivetrain();
	climber = new Climber();
	// fuel = new Fuel();
	gear = new Gear();
	
	oi = new OI();
	
	// initializes camera server
	server = CameraServer.getInstance();
	cameraInit();
	
	// initializes auto chooser
	autoChooser = new SendableChooser();
	autoChooser.addDefault("Middle Hook", new AutoMiddleHook());
	autoChooser.addObject("Loading Station Hook", new AutoLeftHook());
	autoChooser.addObject("Boiler Side Hook", new AutoRightHook());
	SmartDashboard.putData("Auto mode", autoChooser);
	// auto delay
	SmartDashboard.putNumber("Auto delay", 0);
	
	// resets all sensors
	resetAllSensors();
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
public void robotInit() {

	// Create subsystems
	drive = new Drive();
	intake = new Intake();
	arm = new Arm();
	shooter = new Shooter();
	hanger = new Hanger();

	oi = new OI();

	// Create motion profiles
	crossLowBar = new Profile(AutoMap.crossLowBar);
	reach = new Profile(AutoMap.reach);
	toShoot = new Profile(AutoMap.toShoot);
	toLowGoal = new Profile(AutoMap.toLowGoal);

	// Pick an auto
	chooser = new SendableChooser();
	chooser.addDefault("Do Nothing", new DoNothing());
	chooser.addObject("Low Bar", new LowBarRawtonomous());
	chooser.addObject("Low Bar (profile)", new CrossLowBar(crossLowBar));
	chooser.addObject("Reach", new Reach(reach));
	chooser.addObject("Forward Rawto", new ForwardRawtonomous());
	chooser.addObject("Backward Rawto", new BackwardRawtonomous());
	chooser.addObject("Shoot", new AutoShoot());
	SmartDashboard.putData("Auto mode", chooser);

	// Start camera stream
	camera = new USBCamera();
	server = CameraServer.getInstance();
	server.setQuality(40);
	server.startAutomaticCapture(camera);

	// Start compressor
	compressor = new Compressor();
	compressor.start();

	navx = new AHRS(SPI.Port.kMXP);
    }
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
	server = CameraServer.getInstance();
	server.setQuality(80);
	//the camera name (ex "cam0") can be found through the roborio web interface
	server.startAutomaticCapture("cam0");
	serverThread = new Thread(new ServerLoop(this));
	serverThread.start();
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit() {
    NetworkTable.globalDeleteAll();
	
 oi = new OI();
 teleop = new Teleop();
 uHGSD = new UpdateHighGoalShooterDashboard();
 autonomousCommand = new Autonomous(2, 2);
 CameraServer server = CameraServer.getInstance();
 server.startAutomaticCapture("cam0"); 
 
 hood.resetEncoder(hood.HOOD_START);
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
public static void init() {

		// Drivetrain
		DRIVETRAIN_ROBOT_DRIVE = new RobotDrive(0, 1);

		DRIVETRAIN_ENCODER_LEFT = new Encoder(0, 1);
		DRIVETRAIN_ENCODER_LEFT.setDistancePerPulse(0.0481);

		DRIVETRAIN_ENCODER_RIGHT = new Encoder(2, 3, true);
		DRIVETRAIN_ENCODER_RIGHT.setDistancePerPulse(0.0481);

		// Floor Gear
		FLOORGEAR_INTAKE = new VictorSP(2);
		FLOORGEAR_LIFTER = new DoubleSolenoid(0, 1);
		FLOORGEAR_BLOCKER = new DoubleSolenoid(2, 3);

		// Climber
		CLIMBER = new VictorSP(3);

		// Passive Gear
		SLOTGEAR_HOLDER = new DoubleSolenoid(4, 5);

		// Vision
		VISION_SERVER = CameraServer.getInstance();

		VISION_CAMERA = VISION_SERVER.startAutomaticCapture("FRONT", 0);

		VISION_CAMERA.getProperty("saturation").set(20);
		VISION_CAMERA.getProperty("gain").set(50);
		VISION_CAMERA.getProperty("exposure_auto").set(1);
		VISION_CAMERA.getProperty("brightness").set(50);
		VISION_CAMERA.getProperty("exposure_absolute").set(1);
		VISION_CAMERA.getProperty("exposure_auto_priority").set(0);

	}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
public Cameras() {
	server = CameraServer.getInstance();
	frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
	sessionFront = NIVision.IMAQdxOpenCamera(RobotMap.FRONT_CAMERA,
			NIVision.IMAQdxCameraControlMode.CameraControlModeController);
	NIVision.IMAQdxConfigureGrab(sessionFront);
	currentSession = sessionFront;
	sessionSet = true;
	
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
@Override
public void initSubsystem() {
	
 server = CameraServer.getInstance();
 server.setQuality(50);
 server.startAutomaticCapture("cam0");

}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
 * This is the initialization for all robot code
 */
public void robotInit()
{
	robotDrive = new RobotDrive(0,1);
	driveStick = new Joystick(0);
	
	liftServo = new TalonSRX(3);
	liftStick = new Joystick(3);
	
	server = CameraServer.getInstance();
       server.setQuality(50);
       server.startAutomaticCapture("cam0");
}
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
    public void robotInit() {
    	RobotMap.init();
        // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    	LiftControl.zeroValue = RobotMap.forkliftMotor.getPosition();
    	
    	driveBase = new DriveBase();
        pneumatics = new Pneumatics();
        
        img = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
        
    	RobotMap.forkliftMotor.disableControl();
    // END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
        // OI must be constructed after subsystems. If the OI creates Commands 
        //(which it very likely will), subsystems are not guaranteed to be 
        // constructed yet. Thus, their requires() statements may grab null 
        // pointers. Bad news. Don't move it.
        oi = new OI();
        
        back = new JoystickButton(oi.joystick, 7);
        start = new JoystickButton(oi.joystick, 8);
        
        try {
        	cs = CameraServer.getInstance();
	        cs.setQuality( 10 );
	        
/* The available size constants for cs.setSize are 0,1,2 for:
	private static final int kSize640x480 = 0;
    private static final int kSize320x240 = 1;
    private static final int kSize160x120 = 2;
*/
//	        cs.setSize( 1 );
	       
	        cs.startAutomaticCapture("cam0");
        } catch (Exception e) {
        	// No camera signal, ignore
        }
        
        RobotMap.lightRing.set(true);
    }
 

import edu.wpi.first.wpilibj.CameraServer; //导入方法依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */


public void robotInit() {
	RobotMap.init();
    SmartDashboard.putString("Solenoid Status:", "I am E.W.T!"); 
        
  //BEGIN CAMERA CODE
    
	 USBcamera = CameraServer.getInstance();
     USBcamera.setQuality(50);
     //the camera name (ex "cam0") can be found through the roborio web interface
     USBcamera.startAutomaticCapture("cam0");

   //END CAMERA CODE
         
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    driveTrain = new DriveTrain();
    intake = new Intake();
    pneumaticSystem = new PneumaticSystem();
    sensorBase = new SensorBase();
    cheeringSection = new CheeringSection();


// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=CONSTRUCTORS
    // OI must be constructed after subsystems. If the OI creates Commands
    //(which it very likely will), subsystems are not guaranteed to be
    // constructed yet. Thus, their requires() statements may grab null
    // pointers. Bad news. Don't move it.
    oi = new OI();

    // instantiate the command used for the autonomous period
    // BEGIN AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS

    //** Works autonomousCommand = new AutonomousLowGoal();

// END AUTOGENERATED CODE, SOURCE=ROBOTBUILDER ID=AUTONOMOUS
  
    autoChooser = new SendableChooser();
    
    autoChooser.addDefault("Autonomous Low Goal", new AutonomousLowGoal());
    autoChooser.addObject("Autonomous Do Nothing", new AutonomousCommand());
    autoChooser.addObject("Autonomous Straight 50%", new AutoDriveStraight50());
    autoChooser.addObject("Autonomous Straight 75%", new AutoDriveStraight75());
    autoChooser.addObject("Autonomous Straight 100%", new AutoDriveStraight100());
    autoChooser.addObject("Autonomous SELF DESTRUCT", new AutonomousCommand());

  //  autoChooser.addObject("Autonomous Flag Wave", new AutonomousFlagWave());
  // autoChooser.addObject("Autonomous Dance Party", new AutonomousDanceParty());
    SmartDashboard.putData("Autonomous Mode Chooser", autoChooser);
}