Merge pull request #46 from DeepBlueRobotics/camera-skt

Camera skt

src/main/java/org/carlmontrobotics/Constants.java

@@ -18,6 +18,8 @@
 import edu.wpi.first.wpilibj.util.Color;
 import edu.wpi.first.wpilibj.util.Color8Bit;
 import edu.wpi.first.wpilibj2.command.button.POVButton;
+import edu.wpi.first.wpilibj.util.Color;
+import org.carlmontrobotics.subsystems.Led;
 
 /**
  * The Constants class provides a convenient place for teams to hold robot-wide
@@ -33,7 +35,6 @@
  */
 public final class Constants {
 	public static final double g = 9.81; // meters per second squared
-
 	public static final class Led {
 
 		public static final Color8Bit DEFAULT_COLOR_BLUE = new Color8Bit(0, 0, 200);

src/main/java/org/carlmontrobotics/Robot.java

@@ -26,7 +26,7 @@ public void robotInit() {
     robot = this;
     m_robotContainer = new RobotContainer();
     // SignalLogger.start();
-
+    // creates usb camera
     // Record both DS control and joystick data
     DataLogManager.start();
     DriverStation.startDataLog(DataLogManager.getLog());

src/main/java/org/carlmontrobotics/RobotContainer.java

@@ -119,6 +119,7 @@ public class RobotContainer {
 
   public RobotContainer() {
     {
+      // SensorFactory.configureCamera();
       SmartDashboard.setDefaultBoolean("babymode", babyMode);
       SmartDashboard.setPersistent("babymode");
       //safe auto setup... stuff in setupAutos() is not safe to run here - will break robot

src/main/java/org/carlmontrobotics/commands/Intake.java

@@ -1,9 +1,7 @@
 package org.carlmontrobotics.commands;
 
 import static org.carlmontrobotics.Constants.Effectorc.*;
-
 import org.carlmontrobotics.subsystems.IntakeShooter;
-
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 

src/main/java/org/carlmontrobotics/commands/PassToIntake.java

@@ -1,7 +1,6 @@
 package org.carlmontrobotics.commands;
 
 import org.carlmontrobotics.subsystems.IntakeShooter;
-
 import edu.wpi.first.wpilibj2.command.Command;
 
 public class PassToIntake extends Command{

src/main/java/org/carlmontrobotics/commands/RampToRPM.java

@@ -1,7 +1,6 @@
 package org.carlmontrobotics.commands;
 
 import org.carlmontrobotics.subsystems.IntakeShooter;
-
 import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.Command;
 

src/main/java/org/carlmontrobotics/subsystems/Camera.java

@@ -0,0 +1,29 @@
+package org.carlmontrobotics.subsystems;
+import edu.wpi.first.cscore.CvSink;
+import edu.wpi.first.cscore.CvSource;
+import edu.wpi.first.cscore.MjpegServer;
+import edu.wpi.first.cscore.UsbCamera;
+import edu.wpi.first.cscore.UsbCameraInfo;
+import edu.wpi.first.util.PixelFormat;
+public class Camera {
+    public Camera(){
+        UsbCamera usbCamera = new UsbCamera("USB Camera 0", 0);
+        MjpegServer mjpegServer1 = new MjpegServer("serve_USB Camera 0", 1
+        );
+        mjpegServer1.setSource(usbCamera);
+
+        // Creates the CvSink and connects it to the UsbCamera
+        CvSink cvSink = new CvSink("opencv_USB Camera 0");
+        cvSink.setSource(usbCamera);
+
+        // Creates the CvSource and MjpegServer [2] and connects them
+        CvSource outputStream = new CvSource("Blur", PixelFormat.kMJPEG, 640, 480, 30);
+        MjpegServer mjpegServer2 = new MjpegServer("serve_Blur", 2);
+        mjpegServer2.setSource(outputStream);
+
+
+        //OR
+
+    }
+
+}