[l0stboy]

We're attempting to get the image at this phase, and we just stuck the code in the DriveTrain subsystem for the time being. This is through the Command-Base style. Anyone know what's giving the update error? We think that it has something with the timer, but we're not really sure since we're a brand new team of programmers. This is why there is a timer. Again, we are totally clueless on what is causing the error.



/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
package edu.wpi.first.wpilibj.templates.subsystems;

import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.camera.AxisCamera;
import edu.wpi.first.wpilibj.camera.AxisCameraException;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.image.ColorImage;
import edu.wpi.first.wpilibj.image.NIVisionException;
import edu.wpi.first.wpilibj.templates.RobotMap;
import edu.wpi.first.wpilibj.templates.commands.DriveWith Joysticks;

/**
*
* @author John
*/
public class DriveTrain extends Subsystem //no PID...
{
RobotDrive drive;
Servo vexMotor;
Victor motor;
AxisCamera camera;

public DriveTrain() {
super("drivetrain");


drive = new RobotDrive(RobotMap.leftBackMotor, RobotMap.leftFrontMotor, RobotMap.rightBackMotor, RobotMap.rightFrontMotor);
//vexMotor = new Servo(RobotMap.vexMotor);
//motor = new Victor(RobotMap.rightFrontMotor);
//throw new RuntimeException("lolol");
}
public ColorImage obtainImage() throws AxisCameraException, NIVisionException
{
camera = AxisCamera.getInstance("10.40.64.11");
camera.writeResolution(AxisCamera.ResolutionT.k640 x480);
camera.writeBrightness(0);

// Timer timer1 = new Timer();
//
// timer1.start();
// while(timer1.get() < .005)
// {
// System.out.println(timer1.get());
// drive.tankDrive(.3, .3);
// }
System.out.println("hi");
//Timer.delay(1);
//camera.writeMaxFPS(10);
ColorImage image;
System.out.println("brightness: "+ camera.getBrightness() + "\n camera rotation" +camera.getRotation());

//getWatchdog().kill();
// while(!camera.freshImage())
// {
// System.out.println("help im stuck in a loop making factory");
//
// image = camera.getImage();
// image.free();
// Timer.delay(.005);
// }
image = camera.getImage();
return image;
}
protected void initDefaultCommand() {
setDefaultCommand(new DriveWithJoysticks());
}
public void tankDrive(double left, double right) {
drive.tankDrive(left, right);
}
public void tankDrive(double time)
{
Timer timer1 = new Timer();

timer1.start();
while(timer1.get() < time)
{
System.out.println(timer1.get());
drive.tankDrive(.5, .5);
}

}

public void testDrive()
{
drive.setExpiration(1);
drive.tankDrive(0.01, 0);
Timer.delay(4);
drive.tankDrive(0,.1);
Timer.delay(4);
drive.tankDrive(0,0);

}

public void servo(double left) //testing servo
{
vexMotor.set(left);
}
public void victorTest(double number)
{
motor.set(number);
}






}