# 2020 Raspberry Pi Vision Code
This repository contains vision code to be run on the raspberry pi. It reports vision result through NetworkTables to the robot.

Additional instructions for building and deploying can be found at: https://docs.wpilib.org/en/stable/docs/software/vision-processing/wpilibpi/index.html 

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Building on desktop
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Building
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Java 11 is required to build.  Set your path and/or JAVA_HOME environment
variable appropriately.

1) Run "./gradlew build"

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Deploying
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On the rPi web dashboard:

1) Make the rPi writable by selecting the "Writable" tab
2) In the rPi web dashboard Application tab, select the "Uploaded Java jar"
   option for Application
3) Click "Browse..." and select the "java-multiCameraServer-all.jar" file in
   your desktop project directory in the build/libs subdirectory
4) Click Save

The application will be automatically started.  Console output can be seen by
enabling console output in the Vision Status tab.

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Building locally on rPi
=======================

1) Run "./gradlew build"
2) Run "./install.sh" (replaces /home/pi/runCamera)
3) Run "./runInteractive" in /home/pi or "sudo svc -t /service/camera" to
   restart service.