/**
* 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();
}
}