[2172Stew]

This is the code directly copied:

#include "WPILib.h"

/**
* Uses IMAQdx to manually acquire a new image each frame, and annotate the image by drawing
* a circle on it, and show it on the FRC Dashboard.
*/
class IntermediateVisionRobot : public SampleRobot
{
IMAQdxSession session;
Image *frame;
IMAQdxError imaqError;

public:
void RobotInit() override {
// create an image
frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
//the camera name (ex "cam0") can be found through the roborio web interface
imaqError = IMAQdxOpenCamera("cam0", IMAQdxCameraControlModeController, &session);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxOpenCamera error: " + std::to_string((long)imaqError) + "\n");
}
imaqError = IMAQdxConfigureGrab(session);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxConfigureGrab error: " + std::to_string((long)imaqError) + "\n");
}
}

void OperatorControl() override {
// acquire images
IMAQdxStartAcquisition(session);

// grab an image, draw the circle, and provide it for the camera server which will
// in turn send it to the dashboard.
while(IsOperatorControl() && IsEnabled()) {
IMAQdxGrab(session, frame, true, NULL);
if(imaqError != IMAQdxErrorSuccess) {
DriverStation::ReportError("IMAQdxGrab error: " + std::to_string((long)imaqError) + "\n");
} else {
CameraServer::GetInstance()->SetImage(frame);
}
Wait(0.005); // wait for a motor update time
}
// stop image acquisition
IMAQdxStopAcquisition(session);
}
};

START_ROBOT_CLASS(IntermediateVisionRobot)