/** * This function is run when the robot is first started up and should be used for any * initialization code. */ public void robotInit() { black = new Jaguar(4, 1); red = new Jaguar(4, 2); leftEncoder = new Encoder(4, 5); rightEncoder = new Encoder(6, 7); left = new Joystick(1); right = new Joystick(2); gamePad = new Joystick(3); watchdog = Watchdog.getInstance(); dsLCD = DriverStationLCD.getInstance(); photoreceptorL = new DigitalInput(4, 1); photoreceptorM = new DigitalInput(4, 2); photoreceptorR = new DigitalInput(4, 3); camera = AxisCamera.getInstance(); driveMode = 0; // 0 = Tank; 1 = Arcade; 2 = Kaj driveToggle = false; cruiseControl = false; camera.writeResolution(AxisCamera.ResolutionT.k160x120); camera.writeWhiteBalance(AxisCamera.WhiteBalanceT.hold); camera.writeExposureControl(AxisCamera.ExposureT.hold); camera.writeExposurePriority(AxisCamera.ExposurePriorityT.frameRate); leftEncoder.start(); rightEncoder.start(); }
/** This function is called periodically during operator control */ public void teleopInit() { ColorImage image; try { image = camera.getImage(); image.write("unedited.jpg"); BinaryImage bImage = image.thresholdRGB(160, 255, 160, 255, 160, 255); bImage.write("whitemask.jpg"); MonoImage mImage = image.getLuminancePlane(); mImage.write("luminancePlane.jpg"); image.free(); bImage.free(); } catch (NIVisionException e) { System.out.println("Error retrieving image: NIVisionException"); e.printStackTrace(); } catch (AxisCameraException e) { System.out.println("Error retrieving image: AxisCameraException"); e.printStackTrace(); } }