void Camera() { // Camera. Also updates camera servos.
// forces default angle for shooting
if(shootStick->GetRawButton(12)) {
frontAngle = 60; // UPDATE WITH REAL VALUE
}
else {
// Get joystick Y axis
shooterY = shootStick->GetY();
// add joystick axis to front and back angle
frontAngle += shooterY; // Scaling is most likely needed. I don't know what the servo angle goes to/from, or what the shooter goes to/from
backAngle += shooterY;
}
camswitch = flightStick -> GetRawButton(7);
if(camtype == 1){
frontCamServo -> SetAngle(frontAngle);
camera1 -> GetImage(frame);
imaqDrawShapeOnImage(frame, frame, { 70, 110, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
imaqDrawShapeOnImage(frame, frame, { 95, 135, 50, 50}, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
imaqDrawLineOnImage(frame, frame, DrawMode::IMAQ_DRAW_VALUE, {160,0}, {160,315}, 0.0f);
imaqDrawLineOnImage(frame, frame, DrawMode::IMAQ_DRAW_VALUE, {0,120}, {395,120}, 0.0f);
imaqDrawShapeOnImage(frame, frame, { 117, 157, 6, 6}, DrawMode::IMAQ_PAINT_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 255.0f);
}
else{
backCamServo -> SetAngle(backAngle);
camera2 -> GetImage(frame);
}
CameraServer::GetInstance()->SetImage(frame);
if(camswitch == true){ // if we press the button
if(bSeven == false){ // if the button is not pressed last iteration
bSeven = true; // say button was pressed
camtype = -camtype; // turn prime on or off
}
}
else{
bSeven = false; // when you let go, say the button was let go of
}
}
// Feed video frams from the currently selected camera.
// Pass in the robot tick count -- it's just wasteful to
// send a frame every tick if the camera rate is slower
void Camera::Feed(int ticks) {
if (enabled && cameraCount > 0 && ticks % 2 == 0) {
IMAQdxError imaqError = cameras[currentCamera]->GetFrame();
if (cameras[currentCamera]->frame != NULL) {
if (IMAQdxErrorSuccess == imaqError) {
int error = ImageProcessing::IVA_ProcessImage(cameras[currentCamera]->frame);
if (error == 1) { //success
if (overlay) {
int x, y;
Image *frame = cameras[currentCamera]->frame;
imaqGetImageSize(frame, &x, &y);
// Draw box around image. Note -- because the camera is pointing up a little, it's not a rectangle
Point leftStart, leftEnd, rightStart, rightEnd;
// It's just magic numbers here. See the "Feeder station image measurements.xlsx" spreadsheet
leftStart.x = x * 0.387;
leftStart.y = y * 0.258;
leftEnd.x = x * 0.381;
leftEnd.y = y * (0.258 + 0.584);
imaqDrawLineOnImage(frame, frame,
DrawMode::IMAQ_DRAW_VALUE, leftStart, leftEnd,
1.0);
rightStart.x = x * (0.387 + 0.241);
rightStart.y = y * 0.258;
rightEnd.x = x * (0.381 + 0.249);
rightEnd.y = y * (0.258 + 0.584);
imaqDrawLineOnImage(frame, frame,
DrawMode::IMAQ_DRAW_VALUE, rightStart, rightEnd,
1.0);
}
LCameraServer::GetInstance()->SetImage(
cameras[currentCamera]->frame);
}
}
}
}
}
