Alright, so my recommendation would be TowerTracker.
CD Link:
http://www.chiefdelphi.com/forums/sh....php?p=1527019
Github Link:
https://github.com/fauge7/TowerTrack...erTracker.java
This code is meant to be run on the driverstation, but can easily be ported to run on the roborio. To do this, you need to set up opencv on the roborio. Instructions can be found
here. The instructions to set up eclipse to compile opencv code is written for c++ (by me). But I'm not sure how you would do it for java.