Colour Recognition

[Alan Anderson]

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.