Handling cameras

[LeeLorenzSr]

Here's a suggested change to support variable number of cameras on the robot:

`package org.usfirst.frc.team5114.MyRobot2016;

import edu.wpi.first.wpilibj.vision.USBCamera;

/**

• Manages multiple cameras regardless of actual configuration

• imaqOverlayText

  */ public class CameraSystems { public USBCamera[] cameras; private int maxCameras = 0; private int currentCamera = -1;

  // Constructor attempts to initialize X cameras public CameraSystems(int maxCams) { this.maxCameras = maxCams; this.cameras = new USBCamera[maxCams]; for( int i=0; i<maxCams; i++ ) { try { String camName = "cam"+Integer.toString(i); System.out.println("Initializing "+camName); USBCamera newCamera = new USBCamera(camName); newCamera.openCamera(); this.cameras[i] = newCamera;
  System.out.println("Camera "+camName+" found on system and opened"); } catch(Exception e) { System.out.println("Camera initialization caused an exception " + e); } } }

  public int getMaxCameras() { return maxCameras; }

  public USBCamera getCurrentCamera() { USBCamera retVal = null;

  if ( ( this.currentCamera >= 0  ) && (this.currentCamera < this.maxCameras) )
  {
    retVal = this.cameras[this.currentCamera];
  }       
  return retVal;

  }

  public int getCurrentCameraIndex() { return currentCamera; }

  public void setCurrentCameraIndex(int value) {

  if ( (value >= 0) && (value < this.maxCameras) && (this.cameras[value] != null ) )
  {
    USBCamera currCam = getCurrentCamera();
    if ( currCam != null )
    {
        currCam.stopCapture();
    }
    this.currentCamera = value;
    currCam = getCurrentCamera();
    currCam.startCapture();
  }

  }

} `

[LeeLorenzSr]

Oh, that formatting is really messed up....

package org.usfirst.frc.team5114.MyRobot2016;

import edu.wpi.first.wpilibj.vision.USBCamera;

/**
 * Manages multiple cameras regardless of actual configuration
 *      imaqOverlayText
 */
public class CameraSystems {
    public USBCamera[] cameras;
    private int maxCameras = 0;
    private int currentCamera = -1;

    // Constructor attempts to initialize X cameras 
    public CameraSystems(int maxCams)
    {
        this.maxCameras = maxCams;
        this.cameras = new USBCamera[maxCams];
        for( int i=0; i<maxCams; i++ )
        {
            try
            {
                String camName = "cam"+Integer.toString(i);
                System.out.println("Initializing "+camName);
                USBCamera newCamera = new USBCamera(camName); 
                newCamera.openCamera();
                this.cameras[i] = newCamera;                
                System.out.println("Camera "+camName+" found on system and opened");
            }
            catch(Exception e)
            {
                System.out.println("Camera initialization caused an exception " + e);
            }
        }
    }

    public int getMaxCameras() {
        return maxCameras;
    }

    public USBCamera getCurrentCamera()
    {
        USBCamera retVal = null;

        if ( ( this.currentCamera >= 0  ) && (this.currentCamera < this.maxCameras) )
        {
            retVal = this.cameras[this.currentCamera];
        }       
        return retVal;
    }

    public int getCurrentCameraIndex() {
        return currentCamera;
    }

    public void setCurrentCameraIndex(int value) {

        if ( (value >= 0) && (value < this.maxCameras) && (this.cameras[value] != null ) )
        {
            USBCamera currCam = getCurrentCamera();
            if ( currCam != null )
            {
                currCam.stopCapture();
            }
            this.currentCamera = value;
            currCam = getCurrentCamera();
            currCam.startCapture();
        }
    }

}