void CAMERAFEEDS::changeCam(int newId) {
int imaqError;
IMAQdxStopAcquisition(curCam);
if (kBtCamFront == newId)
curCam = camFront;
else
curCam = camBack;
imaqError = IMAQdxConfigureGrab(curCam);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxConfigureGrab error: " + std::to_string((long)imaqError) + "\n");
}
IMAQdxStartAcquisition(curCam);
//curCam = newId;
}
void Robot::TeleopPeriodic() {
Scheduler::GetInstance()->Run();
SmartDashboard::PutNumber("Arm Pos:",Robot::intakeArm->GetPos());
SmartDashboard::PutNumber("POV:",oi->getDriveStick()->GetPOV(0));
SmartDashboard::PutBoolean("old:",oldCameraSel);
SmartDashboard::PutBoolean("sel:",CameraSel);
double time = 0;
if (oldCameraSel != CameraSel)
{
time = Timer::GetFPGATimestamp();
IMAQdxStopAcquisition(session);
IMAQdxUnconfigureAcquisition(session);
IMAQdxCloseCamera(session);
if (CameraSel)
imaqError = IMAQdxOpenCamera("cam2", IMAQdxCameraControlModeController, &session);
else
imaqError = IMAQdxOpenCamera("cam0", IMAQdxCameraControlModeController, &session);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxOpenCamera error: " + std::to_string((long)imaqError) + "\n");
}
imaqError = IMAQdxConfigureGrab(session);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxConfigureGrab error: " + std::to_string((long)imaqError) + "\n");
}
IMAQdxStartAcquisition(session);
oldCameraSel = CameraSel;
time = time - Timer::GetFPGATimestamp();
SmartDashboard::PutNumber("Switch:",time);
}
// if (CameraSel)
// IMAQdxGrab(session2, frame, true, NULL);
// else
IMAQdxGrab(session, frame, true, NULL);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxGrab error: " + std::to_string((long)imaqError) + "\n");
} else {
CameraServer::GetInstance()->SetImage(frame);
}
}
void CAMERAFEEDS::end() {
IMAQdxStopAcquisition(curCam);
}
