[Cody Trey]

I am trying to use camera tracking to track the reflective tape, but I am having problems with the frcParticleAnalysis function. I'm not sure how to use it. my code is:


#include "WPILib.h"

/**
* This is a demo program showing the use of the RobotBase class.
* The SimpleRobot class is the base of a robot application that will automatically call your
* Autonomous and OperatorControl methods at the right time as controlled by the switches on
* the driver station or the field controls.
*/
class RobotDemo : public SimpleRobot
{
RobotDrive myRobot; // robot drive system
Joystick stick; // only joystick
Jaguar jag1;
Jaguar jag2;
Solenoid Sol1 ;
Joystick stick2;
HSLImage image;
ParticleAnalysisReport par;
BinaryImage image2;



public:
RobotDemo(void):
myRobot(1, 3, 2, 10), // front left, rear left, front right, rear right
stick(1), //these must be initialized in the same order
jag1(7),
jag2(8),
Sol1(8),
stick2(2)


{
myRobot.SetExpiration(0.1);
}

/**
* Drive left & right motors for 2 seconds then stop
*/
void Autonomous(void)
{
myRobot.SetSafetyEnabled(false);
AxisCamera &camera = AxisCamera::GetInstance();
camera.WriteBrightness(0);
Wait(3.0);
myRobot.MecanumDrive_Cartesian(0.0, 0.0, 0.0, 0.0); // stop robot
while (!IsOperatorControl())
{
camera.GetImage();
frcParticleAnalysis(image2, 5, par); /*the error says "cannot convert 'BinaryImage' to 'Image*' for argument '1' to 'int frcParticleAnalysis (Image*, int, ParticleAnalysisReport*)'*/
}
}


/*
* Runs the motors with single stick holonomic steering.
* comment
*/
void OperatorControl(void)
{
while (IsOperatorControl())
{
myRobot.SetSafetyEnabled(true);
myRobot.MecanumDrive_Cartesian(stick.GetX(), stick.GetY(), stick.GetThrottle(), 0); // drive with arcade style (use right stick)
if(stick.GetTrigger())
jag2.SetSpeed(.8);
jag1.SetSpeed(.5);
Wait(.2);
Sol1.Set(true);
if(stick2.GetTrigger())
jag1.SetSpeed(.5);
else
Sol1.Set(false);
jag1.SetSpeed(0);
jag2.SetSpeed(0);
Wait(0.005); // wait for a motor update time
}
}


};

START_ROBOT_CLASS(RobotDemo);