[EthanMiller]

Well, having done some extensive tracing and finally copying the Target.java and the TrackerDashboard.java files to my project, then copying the following code into the Teleop section:

ColorImage image = null;
try {
       if (cam.freshImage()) {
       image = cam.getImage();
       Thread.yield();
       Target[] targets = Target.findCircularTargets(image);
       Thread.yield();
        if (targets.length == 0 || targets[0].m_score < kScoreThreshold) {
             System.out.println("No target found");
             Target[] newTargets = new Target[targets.length + 1];
             newTargets[0] = new Target();
             newTargets[0].m_majorRadius = 0;
             newTargets[0].m_minorRadius = 0;
             newTargets[0].m_score = 0;
             for (int i = 0; i < targets.length; i++) {
                   newTargets[i + 1] = targets[i];
             }
             trackerDashboard.updateVisionDashboard(0.0, gyro.getAngle(), 0.0, 0.0, newTargets);
             } else {
             System.out.println(targets[0]);
             System.out.println("Target Angle: " + targets[0].getHorizontalAngle());
             turnController.setSetpoint(gyroAngle + targets[0].getHorizontalAngle());
             trackerDashboard.updateVisionDashboard(0.0, gyro.getAngle(), 0.0, targets[0].m_xPos / targets[0].m_xMax, targets);
              }
      }
} catch (NIVisionException ex) {
       ex.printStackTrace();
} catch (AxisCameraException ex) {
       ex.printStackTrace();
} finally {
    try {
         if (image != null) {
         image.free();
         }
    } catch (NIVisionException ex) {
}

I've gone through and figured out (mostly) what this code does, but I don't understand what the line

turnController.setSetpoint(gyroAngle + targets[0].getHorizontalAngle());

does. In the original file, turnController is:

PIDController turnController = new PIDController(.08, 0.0, 0.5, gyro, new PIDOutput() {

        public void pidWrite(double output) {
            drive.arcadeDrive(0, output);
        }
    }, .005);

but I have no clue what PIDController does. Any help?

EDIT: I know the targeting part probably won't end up in TeleOp, but for now it can stay.