Chief Delphi - simple camera feed and LCD output

Hi!
I was just wanting to check that this is working correctly and make it available if so

I have a problem where enabling code would bring robot code and comms down till i reboot

I made this by cutting huge sections out of my code, simplifying them(I was separating R G and B then comparing particles[in separate files]), then putting them in the vision example
Code:
#include "WPILib.h"

#include "Vision/RGBImage.h"

#include "Vision/BinaryImage.h"



#define RL 200

#define RH 260

#define GL 140

#define GH 210

#define BL 90

#define BH 135



static AxisCamera &eyeOfSauron = AxisCamera::GetInstance("10.16.71.11");

DriverStationLCD* driverOut = DriverStationLCD::GetInstance();

//for smart dashboard



class VisionSample2012 : public SimpleRobot

{

DriverStationLCD* driverOut;

Joystick pilot;

public:

        VisionSample2012(void):

                pilot(1)

        {

                GetWatchdog().Kill();

                driverOut  = DriverStationLCD::GetInstance();



                //eyeOfSauron.WriteBrightness(30);

                //eyeOfSauron.WriteWhiteBalance(AxisCamera::kWhiteBalance_Hold);

                eyeOfSauron.WriteResolution(AxisCamera::kResolution_320x240);

                //eyeOfSauron.WriteColorLevel(100);

                //eyeOfSauron.WriteCompression(30);

                //lower easier on CRIO and harder on cam

                eyeOfSauron.WriteMaxFPS(5);

        }

        

        void Autonomous(void)

        {

                GetWatchdog().Kill();                

                while (IsAutonomous() && IsEnabled()) 

                {

                        GetWatchdog().Kill();

                        CamAnOut();

                }

        }

        void OperatorControl(void)

        {

                GetWatchdog().Kill();

                while (IsOperatorControl())

                {

                        GetWatchdog().Kill();

                        CamAnOut();

                }

        }

        void CamAnOut (void)

        {

                Threshold threshold(RH, RL, GH, GL, BH, BL);

                ParticleFilterCriteria2 criteria[] = {

                                                                                        {IMAQ_MT_BOUNDING_RECT_WIDTH, 10, 200, false, false},

                                                                                        {IMAQ_MT_BOUNDING_RECT_HEIGHT, 10, 200, false, false}};

//                                                                                        false Set this element to TRUE to take calibrated measurements.

//                                                                                        fales Set this element to TRUE to indicate that a match occurs when the measurement is outside the criteria range



//                        ColorImage *image;

//                        image = new RGBImage("/10ft2.jpg");                // get the sample image from the cRIO flash

                                

                ColorImage image(IMAQ_IMAGE_RGB);

                //make image

                eyeOfSauron.GetImage(&image);

                //store camera feed to image

                BinaryImage *thresholdImage = image.ThresholdRGB(threshold);

                //pixel range

                BinaryImage *bigObjectsImage = thresholdImage->RemoveSmallObjects(false, 2);

                // remove small objects (noise)

                BinaryImage *convexHullImage = bigObjectsImage->ConvexHull(false);

                // fill in partial and full rectangles

                BinaryImage *filteredImage = convexHullImage->ParticleFilter(criteria, 2);

                // find the rectangles

                vector<ParticleAnalysisReport> *particles = filteredImage->GetOrderedParticleAnalysisReports();

                // get the results

                

                //LCD output

                if (IsAutonomous())

                        driverOut->Printf(DriverStationLCD::kUser_Line1, 1, "Autonomous");

                else if (IsOperatorControl())

                        driverOut->Printf(DriverStationLCD::kUser_Line1, 1, "Operat        or");



        //too many, or too few targets?  If not, how many?

                if (particles->size() == 0)

                        driverOut->Printf(DriverStationLCD::kUser_Line2, 1, "loosen filter");

                else if (particles->size() > 4)

                        driverOut->Printf(DriverStationLCD::kUser_Line2, 1, "tighten filter");

                else

                {                                                                //TRY I

                        driverOut->Printf(DriverStationLCD::kUser_Line2, 1, "Number of targets: %d", particles->size());

                }

                

                //update the LCD on the DS

                driverOut->UpdateLCD(                        );

                

//delete reports;

                delete filteredImage;

                delete convexHullImage;

                delete bigObjectsImage;

                delete thresholdImage;

                delete &image;

        }

};



START_ROBOT_CLASS(VisionSample2012);