Add Vision (Untested)

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

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* 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.cscore.MjpegServer;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.cscore.VideoSource;
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
+
+public class Camera extends SubsystemBase {
+  CameraServer camServ = CameraServer.getInstance();
+  /**
+   * 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 Camera(String name, int id, int width, int height, int brightness) {
+    try{
+      UsbCamera cam = new UsbCamera(name, id);
+      cam.setResolution(width, height);
+      cam.setBrightness(brightness);
+      cam.setFPS(10);
+      VideoSource camera = cam;
+      camServ.startAutomaticCapture(camera);
+    } 
+    catch(Exception e){
+      System.err.println("Camera broken, pls nerf");
+    }
+
+  }
+
+  @Override
+  public void periodic() {
+  }
+}