public void teleopPeriodic() {
Definitions.drivetrain.arcadeDrive(
Definitions.xbox1.getRawAxis(1), Definitions.xbox1.getRawAxis(4), false);
DriveShifter.checkGearShift();
SparkyIntakeBar.loadingRoutine();
Shooter.firingRoutine(5000);
ArduinoComm.communicate();
try {
if (!backfailed && !frontfailed) {
if (Definitions.buttonbox.getRawButton(2) && !lastbutton4) {
if (currsession == front) {
NIVision.IMAQdxStopAcquisition(currsession);
currsession = back;
NIVision.IMAQdxConfigureGrab(currsession);
} else if (currsession == back) {
NIVision.IMAQdxStopAcquisition(currsession);
currsession = front;
NIVision.IMAQdxConfigureGrab(currsession);
}
}
}
lastbutton4 = Definitions.buttonbox.getRawButton(2);
NIVision.IMAQdxGrab(currsession, frame, 1);
CameraServer.getInstance().setImage(frame);
} catch (Exception e) {
// System.out.println("Camera problem");
}
SmartDashboard.putNumber("Pressure", 250 * (Definitions.pressuretrans.getVoltage() / 5.0) - 25);
SmartDashboard.putNumber("ballSeater", Definitions.ballholder.get() ? 1 : 0);
SmartDashboard.putBoolean(
"catapultReady", (250 * (Definitions.pressuretrans.getVoltage() / 5.0) - 25) > 40);
if (Definitions.joystick.getRawButton(3) && !lastbutton3) {
Definitions.flashlightrelay.set(
Definitions.flashlightrelay.get() == Relay.Value.kOff
? Relay.Value.kForward
: Relay.Value.kOff);
}
// System.out.println(Definitions.flashlightrelay.get());
lastbutton3 = Definitions.joystick.getRawButton(3);
System.out.println(Definitions.pdp.getCurrent(4));
Timer.delay(0.01);
}
public synchronized void getImage(Image image) {
/*if (m_needSettingsUpdate || m_useJpeg) {
m_needSettingsUpdate = false;
m_useJpeg = false;
updateSettings();
}*/
NIVision.IMAQdxGrab(m_id, image, 1);
}
public synchronized void getImageData(ByteBuffer data) {
if (m_needSettingsUpdate || !m_useJpeg) {
m_needSettingsUpdate = false;
m_useJpeg = true;
updateSettings();
}
NIVision.IMAQdxGetImageData(
m_id, data, NIVision.IMAQdxBufferNumberMode.BufferNumberModeLast, 0);
data.limit(data.capacity() - 1);
data.limit(getJpegSize(data));
}
public synchronized void openCamera() {
if (m_id != -1) return; // Camera is already open
for (int i = 0; i < 3; i++) {
try {
m_id =
NIVision.IMAQdxOpenCamera(
m_name, NIVision.IMAQdxCameraControlMode.CameraControlModeController);
} catch (VisionException e) {
if (i == 2) throw e;
delay(2.0);
continue;
}
break;
}
}
public synchronized void updateSettings() {
boolean wasActive = m_active;
// Stop acquistion, close and reopen camera
if (wasActive) stopCapture();
if (m_id != -1) closeCamera();
openCamera();
// Video Mode
NIVision.dxEnumerateVideoModesResult enumerated = NIVision.IMAQdxEnumerateVideoModes(m_id);
NIVision.IMAQdxEnumItem foundMode = null;
int foundFps = 1000;
for (NIVision.IMAQdxEnumItem mode : enumerated.videoModeArray) {
Matcher m = m_reMode.matcher(mode.Name);
if (!m.matches()) continue;
if (Integer.parseInt(m.group("width")) != m_width) continue;
if (Integer.parseInt(m.group("height")) != m_height) continue;
double fps = Double.parseDouble(m.group("fps"));
if (fps < m_fps) continue;
if (fps > foundFps) continue;
String format = m.group("format");
boolean isJpeg = format.equals("jpeg") || format.equals("JPEG");
if ((m_useJpeg && !isJpeg) || (!m_useJpeg && isJpeg)) continue;
foundMode = mode;
foundFps = (int) fps;
}
if (foundMode != null) {
System.out.println("found mode " + foundMode.Value + ": " + foundMode.Name);
if (foundMode.Value != enumerated.currentMode)
NIVision.IMAQdxSetAttributeU32(m_id, ATTR_VIDEO_MODE, foundMode.Value);
}
// White Balance
if (m_whiteBalance == "auto") NIVision.IMAQdxSetAttributeString(m_id, ATTR_WB_MODE, "Auto");
else {
NIVision.IMAQdxSetAttributeString(m_id, ATTR_WB_MODE, "Manual");
if (m_whiteBalanceValue != -1)
NIVision.IMAQdxSetAttributeI64(m_id, ATTR_WB_VALUE, m_whiteBalanceValue);
}
// Exposure
if (m_exposure == "auto")
NIVision.IMAQdxSetAttributeString(m_id, ATTR_EX_MODE, "AutoAperaturePriority");
else {
NIVision.IMAQdxSetAttributeString(m_id, ATTR_EX_MODE, "Manual");
if (m_exposureValue != -1) {
long minv = NIVision.IMAQdxGetAttributeMinimumI64(m_id, ATTR_EX_VALUE);
long maxv = NIVision.IMAQdxGetAttributeMaximumI64(m_id, ATTR_EX_VALUE);
long val = minv + (long) (((double) (maxv - minv)) * (((double) m_exposureValue) / 100.0));
// NIVision.IMAQdxSetAttributeI64(m_id, ATTR_EX_VALUE, val);
NIVision.IMAQdxSetAttributeI64(m_id, ATTR_EX_VALUE, m_exposureValue);
}
}
// Brightness
NIVision.IMAQdxSetAttributeString(m_id, ATTR_BR_MODE, "Manual");
long minv = NIVision.IMAQdxGetAttributeMinimumI64(m_id, ATTR_BR_VALUE);
long maxv = NIVision.IMAQdxGetAttributeMaximumI64(m_id, ATTR_BR_VALUE);
long val = minv + (long) (((double) (maxv - minv)) * (((double) m_brightness) / 100.0));
NIVision.IMAQdxSetAttributeI64(m_id, ATTR_BR_VALUE, val);
// Restart acquisition
if (wasActive) startCapture();
}
public synchronized void stopCapture() {
if (m_id == -1 || !m_active) return;
NIVision.IMAQdxStopAcquisition(m_id);
NIVision.IMAQdxUnconfigureAcquisition(m_id);
m_active = false;
}
public synchronized void startCapture() {
if (m_id == -1 || m_active) return;
NIVision.IMAQdxConfigureGrab(m_id);
NIVision.IMAQdxStartAcquisition(m_id);
m_active = true;
}
public synchronized void closeCamera() {
if (m_id == -1) return;
NIVision.IMAQdxCloseCamera(m_id);
m_id = -1;
}