[MrRoboSteve]

Here's what I'd do.

1. Make a new type -- say ImageAnalyzer -- that is a Runnable. This type will do the image analysis.

2. Create another new type ImageAnalyzerResult that has properties:

estimatedToteDistance
estimatedToteAngle

This type is used to return the results of the analysis to your main robot logic.

3. The ImageAnalyzer.run() method would have a loop that would repeatedly run your image analysis, likely with some delay between runs to not completely eat a CPU.

Your image analysis code would look like this:

a. Acquire an image from the camera
b. Perform some analysis of the image to determine the robot's angle relative to the vision target on a tote.
c. Create a new ImageAnalyzerResult, and set the two properties to the calculated values from your image analysis. You want to make a new one of these each time you do your image analysis, so that you don't have synchronization issues with the analyzer and the code that uses the result.

4. Add a method to ImageAnalyzer named something like getResult() that returns the current ImageAnalyzerResult if you're seeing a tote, and null if not.

5. When your robot is starting, say:

(new Thread(new ImageAnalyzer())).start();