Robot Connection Resetting
Recently, my team has noticed our robot's connection resetting itself for no apparent reason and giving us the following output in the console:
Connection reset at edu.wpi.first.wpilibj.CameraServer.serve(CameraSer ver.java:346)
edu.wpi.first.wpilibj.CameraServer$1.run(CameraSer ver.java:77)
java.lang.Thread.run(Thread.java:745)
I'm assuming there is something wrong with the camera code, but I have no idea what.
Here is the code we are using:
Code:
package org.usfirst.frc.team4968.robot;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
/**
* Robot Drive sample code, modified by Ryley Ongarato for use by the Robohawks/team 4968's robot.
* Allows robot to be driven arcade style and Microsoft vision camera to be displayed on frc dashboard (cameraHW).
* Also allows for a crate to be grabbed via the grabbing system, and (WIP) lifted via the lifting system.
* Features a brake(button 1) and a one axis camera.
**/
public class Robot extends SampleRobot {
RobotDrive myRobot;
Victor grabSystem = new Victor(2);
double grabSystemSpeed;
Victor liftSystem = new Victor(3);
double lifeSystemSpeed;
Victor camAxis = new Victor(4);
double camAxisSpeed;
Joystick stick;
Joystick leftstick;
CameraServer server;
public Robot() {
myRobot = new RobotDrive(0, 1);
myRobot.setExpiration(0.1);
stick = new Joystick(0);
leftstick = new Joystick(1);
server = CameraServer.getInstance();
server.setQuality(30); //Camera Compression rate/Quality
server.startAutomaticCapture("cam0"); //the camera is displayed on the frc dashboard as cameraHW.
}
/**
* Basic Autonomous Drive at speed x for x seconds.
**/
public void autonomous() {
myRobot.setSafetyEnabled(false);
myRobot.drive(0.1, 0.0); // drive forwards at (x) speed
Timer.delay(1.0); // for (x) seconds
myRobot.drive(0.0, 0.0); // stop robot after x seconds
}
/**
* Runs during Teleop mode. This code drives the robot via arcade steering. Also includes the brake, lift, and grabbing code.
**/
public void operatorControl() {
myRobot.setSafetyEnabled(true);
while (isOperatorControl() && isEnabled()) {
//-------------------------Robot Drive-------------------------//
if (stick.getRawButton(1)){
myRobot.arcadeDrive(stick.getX() * 0.3, stick.getY() * 0.3); //Brake (stops motors, will flip robot at high speed)
System.out.println("Button 1 pressed!");
}
else{ myRobot.arcadeDrive(stick.getX() * 0.5, stick.getY() * 0.5); //Arcade style driving, using the right stick with speed capped at 50%
}
//-------------------------Grab System-------------------------//
double grabSystemSpeed = 0;
grabSystemSpeed = leftstick.getX(); //Retrieves value from the leftstick's x axis and sets it to grabSystemSpeed
grabSystem.set(grabSystemSpeed); //Apply grabSystemSpeed to the grabSystem
//-------------------------Lift System-------------------------//
double liftSystemSpeed = 0;
liftSystemSpeed = -leftstick.getY(); //Retrieves value from the leftstick's x axis and sets it to grabSystemSpeed
liftSystem.set(liftSystemSpeed); //Apply grabSystemSpeed to the grabSystem
}
//-------------------------Camera Axis-------------------------//
double camAxisSpeed = 0;
if (stick.getRawButton(3)){
camAxisSpeed = (1.0); //Move camera axis up
}
else if (stick.getRawButton(4)){
camAxisSpeed = (-1.0); //Move camera axis down
}
camAxis.set(camAxisSpeed);
}
/**
* Runs during test mode. Used for testing new code/code changes.
**/
public void test() {
}
}
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