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Merge pull request #142 from frc937/heartland-2024
All Changes from Heartland 2024 MEGAMERGE PAAAAAAAIIIIIIIINNNNNN
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// Copyright (c) FIRST and other WPILib contributors. | ||
// Open Source Software; you can modify and/or share it under the terms of | ||
// the WPILib BSD license file in the root directory of this project. | ||
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/* | ||
* Asimov's Laws: | ||
* The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
* The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
* The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
*/ | ||
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package frc.robot.subsystems; | ||
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import edu.wpi.first.cameraserver.CameraServer; | ||
import edu.wpi.first.cscore.UsbCamera; | ||
import edu.wpi.first.cscore.VideoSource.ConnectionStrategy; | ||
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; | ||
import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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public class Camera extends SubsystemBase { | ||
private int port; | ||
private UsbCamera camera; | ||
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/** Creates a new Camera. */ | ||
public Camera(int port) { | ||
this.port = port; | ||
} | ||
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public void startCamera() { | ||
camera = CameraServer.startAutomaticCapture(port); | ||
camera.setConnectionStrategy(ConnectionStrategy.kKeepOpen); | ||
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System.out.println("Camera started"); | ||
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Shuffleboard.getTab("Driver").add(camera).withSize(4, 4); | ||
} | ||
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@Override | ||
public void periodic() { | ||
// This method will be called once per scheduler run | ||
} | ||
} |
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