[Arhowk]

This doesn't work because the smaller contours fluctuate a lot and the position of the goal/largest contour changes from the first time we get the data (area) to the second time we get the data (centerX, or height).

You could just flash the data immediately... something like how I do ours

        self.rotateError = 0
        try:
            beta = self._getArray("area")
            x = self._getArray("centerX")
            y = self._getArray("centerY") 
            self.largestArea = 0
            self.largestIndex = -1
            for index in range(len(beta)):
                if beta[index] > self.largestArea:
                    self.largestIndex = index
                    self.largestArea = beta[index]
            if self.largestIndex != -1:
                wpilib.SmartDashboard.putNumber("Largest Area", beta[self.largestIndex])
                wpilib.SmartDashboard.putNumber("Largest x", x[self.largestIndex])
                wpilib.SmartDashboard.putNumber("Largest y", y[self.largestIndex])
                wpilib.SmartDashboard.putNumber("X Error", self.center_x - x[self.largestIndex])
                wpilib.SmartDashboard.putNumber("Rotate Error", self.degrees_per_x_error * (self.center_x - x[self.largestIndex]))
                wpilib.SmartDashboard.putNumber("Y Error", self.center_y - y[self.largestIndex])
                
                self.rotateError = self.degrees_per_x_error * (self.center_x - x[self.largestIndex])
                self.y = y[self.largestIndex]
            return
        except KeyError:
            return
        except IndexError:
            return