2022NoWayHome/src/main/java/frc4388/robot/subsystems/Camera.java

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc4388.robot.subsystems;

import edu.wpi.first.cscore.*;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.cameraserver.CameraServer;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class Camera extends SubsystemBase {
  /**
   * Creates a new Camera.
   * Makes a Camera and sends the stream to a CameraServer, to be viewed in Shuffle Board.
   * @param name Name of the Camera in Shuffle Board.
   * @param id USB Id of the Camera.
   * @param width Resolution width.
   * @param height Resolution height.
   * @param brightness Percent brightness of the stream.
   */

   public UsbCamera test;

  public Camera(String name, int id, int width, int height, int brightness) {
    try{
      UsbCamera cam = CameraServer.startAutomaticCapture();//new UsbCamera(name, id);
      cam.setResolution(width, height);
      cam.setBrightness(brightness);
      cam.setFPS(10);
      SmartDashboard.putBoolean("cam enabled", cam.isEnabled());
      SmartDashboard.putBoolean("cam connected", cam.isConnected());
      // VideoSource camera = cam;
      // CameraServer.addCamera(camera);
      // CameraServer.startAutomaticCapture(camera);
    } 
    catch(Exception e) {
      System.err.println("Camera broken, pls nerf");
      e.printStackTrace();
    }
  }

  @Override
  public void periodic() {}
}