Update for two cameras

Author: stmobo

driver_vision.py

@@ -5,7 +5,7 @@
 # tuples are (camera_name, camera_device_id)
 cameras = [
     ('Camera 1', 0),
-    # ('Camera 2', 1),
+    ('Camera 2', 1),
 ]
 
 
@@ -32,10 +32,10 @@ def main():
         # camera_chooser.addDefault(name, cam_idx)
 
     cam_server = cs_instance.addServer(name='camera_server')
-    current_selected = int(table.getNumber('Selected Camera', 0))
+    current_selected = int(table.getNumber('Selected Camera', 1))
 
     if current_selected >= len(camera_objects):
-        current_selected = 0
+        current_selected = 1
 
     cam_server.setSource(camera_objects[current_selected])
 

teleop.py

@@ -38,7 +38,7 @@ def buttons(self):
                 self.foc_enabled = not self.foc_enabled
 
         if self.switch_camera_button.get():
-            current_camera = (self.prefs.getInt('Selected Camera', 0) + 1) % 1
+            current_camera = (self.prefs.getInt('Selected Camera', 0) + 1) % 2
             self.prefs.putInt('Selected Camera', current_camera)
 
     def lift_control(self):
@@ -90,7 +90,7 @@ def winch_control(self):
                 self.robot.winch.forward()
             else:
                 self.robot.winch.forward()
-                self.robot.lift.setLiftPower(0.35)
+                self.robot.lift.setLiftPower(constants.sync_power)
         elif self.throttle.getRawButton(3):
             self.robot.winch.forward()
         elif self.throttle.getRawButton(2):
@@ -114,6 +114,12 @@ def drive(self):
         if constants.strInv:
             ctrl[1] *= -1
 
+        if abs(ctrl[0]) < 0.1:
+            ctrl[0] = 0
+
+        if abs(ctrl[1]) < 0.1:
+            ctrl[1] = 0
+
         linear_control_active = True
         if abs(np.sqrt(np.sum(ctrl**2))) < 0.1:
             ctrl[0] = 0