[rickyman20]

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

"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)

    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();
            }
        }
    }