[2472Programer]

This year, my team has for the first time decided to actually use the camera instead of it just being a place holder on the robot. The only problem with this is that I don't know how to program the camera to track the reflective targets on the field. I, so far, have gotten as far as getting the camera to take a picture and filter it down to the green box it is going to track. Now I need to get the robot it react and change its position accordingly. Any help is appreciated. A copy of my code is attached if anyone wants to check if i already messed something up.

package edu.wpi.first.wpilibj.templates;


import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.camera.AxisCamera;
import edu.wpi.first.wpilibj.image.BinaryImage;
import edu.wpi.first.wpilibj.image.ColorImage;
import edu.wpi.first.wpilibj.image.CriteriaCollection;
import edu.wpi.first.wpilibj.image.NIVision;
import edu.wpi.first.wpilibj.image.NIVisionException;
import edu.wpi.first.wpilibj.image.ParticleAnalysisReport ;

/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* 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 Main extends IterativeRobot {
AxisCamera camera = AxisCamera.getInstance();
Joystick leftStick = new Joystick(1);
Joystick rightStick = new Joystick(2);
Joystick joypad = new Joystick(3);
CriteriaCollection cc;
RobotDrive tank = new RobotDrive(1,2,3,4);
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {

cc = new CriteriaCollection();

cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AR EA, 30, 400, false);

cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AR EA, 40, 400, false);

}

/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {

}

/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {

tank.tankDrive(leftStick, rightStick);

if(joypad.getRawButton(1)){

centerCalculate();
}


}

/**
* This function is called periodically during test mode
*/
public void testPeriodic() {

}

private void centerCalculate() {

ColorImage image = null;

BinaryImage thresholdImage = null;

BinaryImage bigObjectsImage = null;

BinaryImage convexHullImage = null;

BinaryImage filteredImage = null;

try{

image = camera.getImage();

thresholdImage = image.thresholdRGB(0, 45, 25, 225, 0, 45);

bigObjectsImage = thresholdImage.removeSmallObjects(false, 2);

convexHullImage = bigObjectsImage.convexHull(false);

filteredImage = convexHullImage.particleFilter(cc);

ParticleAnalysisReport[] reports = filteredImage.getOrderedParticleAnalysisReports();

for(int i = 0; i <reports.length +1;i++){

System.out.println(reports[i].center_mass_x);
}


}catch(Exception ex){

}finally{

}

try{

filteredImage.free();

convexHullImage.free();

bigObjectsImage.free();

thresholdImage.free();

image.free();

}catch(NIVisionException ex){

}
}

}