def robotInit(self):
camera = wpilib.USBCamera()
camera.setExposureManual(50)
camera.setBrightness(80)
camera.updateSettings() # force update before we start thread
server = wpilib.CameraServer.getInstance()
server.startAutomaticCapture(camera)
def __init__(self, robot):
#This is for a USB camera. Uncomment it if we aren't using the Axis.
self.camera = wpilib.USBCamera()
self.camera.setExposureManual(50)
self.camera.setBrightness(80)
self.camera.updateSettings()
self.camera.setFPS(10)
self.camera.setSize(320, 240)
self.camera.setWhiteBalanceAuto()
#self.camera.setQuality(30)
server = wpilib.CameraServer.getInstance()
server.startAutomaticCapture(self.camera)
def robotInit(self):
"""initialises robot as a mecanum drive bot w/ 2 joysticks and a camera"""
#want to change this to Xbox 360 controller eventually... probably sooner rather
#than later.
#
#This is for a USB camera. Uncomment it if we aren't using the Axis.
self.camera = wpilib.USBCamera()
self.camera.setExposureManual(50)
self.camera.setBrightness(80)
self.camera.updateSettings()
self.camera.setFPS(10)
self.camera.setSize(320, 240)
self.camera.setWhiteBalanceAuto()
#self.camera.setQuality(30)
server = wpilib.CameraServer.getInstance()
server.startAutomaticCapture(self.camera)
self.drive = wpilib.RobotDrive(3, 1, 2, 0)
self.drive.setExpiration(0.1)
self.stick_left = wpilib.Joystick(0)
self.stick_right = wpilib.Joystick(1)
self.drive.setInvertedMotor(self.drive.MotorType.kFrontRight, True)
self.drive.setInvertedMotor(self.drive.MotorType.kRearRight, True)
#self.gyro = wpilib.Gyro(0)
self.aux_left = wpilib.Jaguar(6)
self.aux_right = wpilib.Jaguar(4)
self.window_motor = wpilib.Jaguar(5)
self.smart_dashboard = NetworkTable.getTable("SmartDashboard")
self.mast_pot = wpilib.AnalogPotentiometer(0)
self.grabba_pot = wpilib.AnalogPotentiometer(1)
self.lift_pot = wpilib.AnalogPotentiometer(2)
def aux_combined(output):
"""use for PID control"""
self.aux_left.pidWrite(output)
self.aux_right.pidWrite(output)
self.grabba_pid = wpilib.PIDController(4, 0.07, 0, self.grabba_pot.pidGet, self.window_motor.pidWrite)
self.grabba_pid.disable()
self.lift_pid = wpilib.PIDController(4, 0.07, 0, self.lift_pot.pidGet, aux_combined)
self.lift_pid.disable()
def robotInit(self):
'''Robot initialization function'''
#positions = [0,-625,-1210,-1815,-2425,-2635]
positions = [0, -325, -650, -975, -1300, -1395]
scorePos = [0, 0, -275, -545, -805, -1075]
self.motorFrontRight = wp.TalonSRX(frontRightPort)
self.motorBackRight = wp.TalonSRX(backRightPort)
self.motorFrontLeft = wp.TalonSRX(frontLeftPort)
self.motorBackLeft = wp.TalonSRX(backLeftPort)
self.stick = joy.happyHappyJoyJoy(leftDriveJoyPort)
self.stick2 = joy.happyHappyJoyJoy(rightDriveJoyPort)
self.cop = joy.happyHappyJoyJoy(coPilotJoyPort)
self.smartDs = wp.SmartDashboard() #the smart dashboard communication
self.accel = wp.BuiltInAccelerometer()
self.driveEncd = wp.Encoder(driveEncdAPort, driveEncdBPort)
self.feeders = feed.feedMe(feederLeftPort, feederRightPort,
feedUpChannel, feedDownChannel, 0.35)
self.rightSwitch = wp.DigitalInput(rightToteDetPort)
self.leftSwitch = wp.DigitalInput(leftToteDetPort)
self.autoSwitch = wp.DigitalInput(autoSwitchPort)
self.comp = wp.Compressor()
self.Vator = ele.elevatorObj(liftMotPort, liftEncdAPort, liftEncdBPort,
positions, scorePos, 0.75, 30)
try:
self.camServ = wp.CameraServer()
self.usbCam = wp.USBCamera()
self.usbCam.setExposureManual(50)
self.usbCam.setBrightness(80)
self.usbCam.updateSettings() # force update before we start thread
self.camServ.startAutomaticCapture(self.usbCam)
except:
pass
import wpilib import time camera = wpilib.USBCamera() camera.startCapture() camera.setExposureAuto() #-1 old camera.setBrightness(10) #camera.setSize(camera.width / 2, camera.height / 2) #camera.setFPS(15) cameraServer = wpilib.CameraServer() cameraServer.startAutomaticCapture(camera) #a = input() time.sleep(3) camera.stopCapture()
