Chief Delphi - Vision Code HELP!!!!

Hello,
I am trying to get our vision code to count the pixels in a certain region to see if the goal is hot.
Code:
/*----------------------------------------------------------------------------*/

/* Copyright (c) FIRST 2008. All Rights Reserved.                             */

/* Open Source Software - may be modified and shared by FRC teams. The code   */

/* must be accompanied by the FIRST BSD license file in the root directory of */

/* the project.                                                               */

/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.templates;



import edu.wpi.first.wpilibj.SimpleRobot;

import edu.wpi.first.wpilibj.Timer;

import edu.wpi.first.wpilibj.camera.AxisCamera;

import edu.wpi.first.wpilibj.camera.AxisCameraException;

import edu.wpi.first.wpilibj.image.ColorImage;

import edu.wpi.first.wpilibj.image.NIVisionException;

import edu.wpi.first.wpilibj.image.BinaryImage;

import edu.wpi.first.wpilibj.image.CriteriaCollection;

import edu.wpi.first.wpilibj.image.ParticleAnalysisReport;

import com.sun.squawk.util.MathUtils;



/**

 * The VM is configured to automatically run this class, and to call the

 * functions corresponding to each mode, as described in the SimpleRobot

 * documentation. If you change the name of this class or the package after

 * creating this project, you must also update the manifest file in the resource

 * directory.

 */

public class RobotTemplate extends SimpleRobot {



    AxisCamera camera;

    public ColorImage image;

    public BinaryImage threshold;

    private int imageState;

    private boolean busy;

    public static final int left = 402;

    public static final int right = 456;

    public static final int top = 75;

    public static final int bottom = 99;

    public int countHotPixels = 0;

    public int count = 0;



    public RobotTemplate() {

        camera = AxisCamera.getInstance("10.20.28.11");

        camera.writeResolution(AxisCamera.ResolutionT.k640x480);

        camera.writeExposurePriority(AxisCamera.ExposurePriorityT.imageQuality);

        camera.writeExposureControl(AxisCamera.ExposureT.hold);

        camera.writeWhiteBalance(AxisCamera.WhiteBalanceT.fixedIndoor);

    }



    public void autonomous() {

    }



    /**

     * This function is called once each time the robot enters operator control.

     */

    public void operatorControl() {

        while (isEnabled() && isOperatorControl()) {

            try {

                switch (imageState) {

                    case 0:

                        busy = true;

                        image = camera.getImage();

//                        System.out.println("Got image");

                        imageState++;

                        busy = false;

                        break;

                    case 1:

                        busy = true;

                        threshold = image.thresholdRGB(0, 70, 185, 255, 145, 225);  // green values

//                        thresholdImage = image.thresholdHSV(115, 125, 195, 255, 220, 255);

                        image.free();

                        image = null;

//                        System.out.println("Got threshold");

                        imageState++;

                        busy = false;

                        break;

                    case 2:

                        busy = true;

                        for(int x = left; x <= right; x++)

                        {

                            for(int y = top; y <= bottom; y++)

                            {

                                byte pixel = threshold.image.getByte(x);

                                System.out.println("\tChecking (" + x + ", " + y + ": " + pixel);

                                if(pixel != 0)

                                {

                                    countHotPixels++;

                                    count++;

                                    break;

                                }

                            }

                        }

                        imageState++;

                        busy = false;

                        threshold.free();

                        threshold = null;

                        break;

                    case 3:

                        System.out.println("Number hot pixels : " + countHotPixels);

                        busy = false;

                        imageState = 0;

                        break;

                }

                

            } catch (AxisCameraException ex) {

                ex.printStackTrace();

            } catch (NIVisionException ex) {

                ex.printStackTrace();

            }

            Timer.delay(0.1);

            getWatchdog().feed();

        }



    }



    /**

     * This function is called once each time the robot enters test mode.

     */

    public void test() {

    }

}
Every time I run this, I either get a NoImageAvailable exception on the image = camera.getImage() or I get a OffsetOutOfBounds exception on the byte pixel = threshold.image.getByte(x); I apologize for the poor formatting of this message. Any suggestions would be greatly appreciated