[jwakeman]

To start streaming video to the classmate all you have to do is get an instance of the AxisCamera object. If you look at the implementation of AxisCamera::GetInstance() and trace the functions it calls you will see it automatically sets up a pc video server object and starts it up. Assuming you had a class named LogoVision that inherited from SimpleRobot the following code would be enough to start streaming video to your classmate once you entered autonomous mode. The api's you mentioned are at a lower level than you need to be at.

void LogoVision::Autonomous()
{
	AxisCamera& camera = AxisCamera::GetInstance();
	
	while(IsAutonomous())
	{
	}	
}