Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update Camera templates to make C++ and Java more similar.

Browse Source 
Include delays and template code from other examples to show how to use
these examples in a full robot program. Change Java example in example
finder to Simple Vision to match C++. Add comments about how to find cam
number and change default to cam0.

Change-Id: I85846ccfaf016c538a750b057a7fd766cdff9447
This commit is contained in:
Joe Ross
2014-12-27 20:48:10 -08:00
committed by Brad Miller
parent a6aef54ef4
commit 0368322385
6 changed files with 25 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/IntermediateVision/src/Robot.cpp
View File

@@ -14,7 +14,7 @@ public:
void RobotInit() override {
// create an image
frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
// open the camera
//the camera name (ex "cam0") can be found through the roborio web interface
imaqError = IMAQdxOpenCamera("cam0", IMAQdxCameraControlModeController, &session);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxOpenCamera error: " + std::to_string((long)imaqError) + "\n");
@@ -39,6 +39,7 @@ public:
imaqDrawShapeOnImage(frame, frame, { 10, 10, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
CameraServer::GetInstance()->SetImage(frame);
}
Wait(0.005); // wait for a motor update time
}
// stop image acquisition
IMAQdxStopAcquisition(session);

13
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/QuickVision/src/Robot.cpp
View File

@@ -10,11 +10,18 @@ class QuickVisionRobot : public SampleRobot
{
public:
void RobotInit() override {
CameraServer::GetInstance()->SetQuality(75);
CameraServer::GetInstance()->StartAutomaticCapture();
CameraServer::GetInstance()->SetQuality(50);
//the camera name (ex "cam0") can be found through the roborio web interface
CameraServer::GetInstance()->StartAutomaticCapture("cam0");
}
void OperatorControl() override {
void OperatorControl()
{
while (IsOperatorControl() && IsEnabled())
{
/** robot code here! **/
Wait(0.005); // wait for a motor update time
}
}
};

4
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml
View File

@@ -281,7 +281,7 @@
</example>
<example>
<name>Simple vision program</name>
<name>Simple Vision</name>
<description>The minimal program to acquire images from an attached USB camera on the robot
and send them to the dashboard.</description>
<tags>
@@ -298,7 +298,7 @@
</example>
<example>
<name>Intermediate vision</name>
<name>Intermediate Vision</name>
<description>An example program that acquires images from an attached USB camera and adds some
annotation to the image as you might do for showing operators the result of some image
recognition, and sends it to the dashboard for display.