Chief Delphi - Robot drive and camera interaction not working

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Robot drive and camera interaction not working

I a currently working on a program that will use the camera to guide the robot, but the problem is I can't get it to work. When I try the drive or the camera separately, it works without an issue, but when I use one to control the other, it does not work and it fills my console with

Code:

"Robot Drive... Output not updated often enough."

It I am not able to figure out what the problem is? Here is the code I used (without the teleop and class declaration, but it extends SimpleRobot)

Code:

    AxisCamera camera;          // the axis camera object (connected to the switch)

    CriteriaCollection cc;      // the criteria for doing the particle filter operation

    

    RobotDrive drive;

    

    public void robotInit() {

        camera = AxisCamera.getInstance();  // get an instance ofthe camera

        cc = new CriteriaCollection();      // create the criteria for the particle filter

        cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_WIDTH, 30, 400, false);

        cc.addCriteria(MeasurementType.IMAQ_MT_BOUNDING_RECT_HEIGHT, 40, 400, false);

        

            drive = new RobotDrive(1, 3);

    }



    public void autonomous() {

        while (isAutonomous() && isEnabled()) {

            try

            {

                ColorImage image = camera.getImage();

                BinaryImage thresholdImage = image.thresholdRGB(0, 45, 25, 255, 0, 47);

                BinaryImage bigObjectsImage = thresholdImage.removeSmallObjects(false, 2);

                BinaryImage convexHullImage = bigObjectsImage.convexHull(false);

                BinaryImage filteredImage = convexHullImage.particleFilter(cc);

                

                ParticleAnalysisReport[] reports = filteredImage.getOrderedParticleAnalysisReports();

                if(reports.length > 0)

                {

                        if(reports[0].center_mass_x > image.getWidth() / 2 + 10)

                                drive.arcadeDrive(0, 1);

                        else if(reports[0].center_mass_x < image.getWidth() / 2 - 10)

                                drive.arcadeDrive(0, -1);

                        else

                                drive.arcadeDrive(0, 0);

                }

                

                filteredImage.free();

                convexHullImage.free();

                bigObjectsImage.free();

                thresholdImage.free();

                image.free();

            } catch (NIVisionException ex) {

                ex.printStackTrace();

            } catch (AxisCameraException e) {

                e.printStackTrace();

            }

        }

    }