You're in luck. The WPI function libraries for FRC support the Axis camera communication protocol. You'll have to follow the documentation for setting everything up properly before it will work; look
here and find the section dealing with the camera. You should be able to use the Vision Assistant to play with image processing and figure out a sequence of steps to find the color you want to follow.
The
2012 Vision Whitepaper posted on
the firstforge site might be helpful.
Your drivebase sounds like a
mecanum setup, with diagonal rollers on otherwise conventionally-mounted wheels. It's capable of moving in any direction at any time, either while facing in a constant direction or while turning. Again, you're in luck. The FRC libraries support mecanum drive directly. Just supply a number from -1 to 1 to control how quickly it moves forward or reverse, another number from -1 to 1 to control how quickly it moves left or right, and yet another number to control how quickly it spins counterclockwise or clockwise.
Whether we realize it or not, we've all been touched by the works of Dr. Kamen - through his TED talks, through his research and scores of publications in pediatric oncology, or perhaps more directly through his daughter. What an incredible life, what an incredible legacy. - Taylor [more] 
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