How to make the camera work? (Java)

[5580SQUAD]

We are trying to get the camera to show it's display on the dashboard but we've failed to get any kind of input showing.




And here's our code:

package org.usfirst.frc.team5580.robot;
 
import com.ni.vision.NIVision;
import com.ni.vision.NIVision.DrawMode;
import com.ni.vision.NIVision.Image;
import com.ni.vision.NIVision.ShapeMode;
 
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.Timer;
 
/**
 * The VM is configured to automatically run this class, and to call the
 * functions corresponding to each mode, as described in the IterativeRobot
 * documentation. If you change the name of this class or the package after
 * creating this project, you must also update the manifest file in the resource
 * directory.
 */
public class Robot extends IterativeRobot {
    /**
     * This function is run when the robot is first started up and should be
     * used for any initialization code.
     */
        final int JOYSTICK_PORT = 0; //Computer port 0
        final int FRONT_LEFT_SC = 1; //PWM, PORT 0
        final int FRONT_RIGHT_SC = 2; // PWM, PORT 1
        final int BACK_LEFT_SC = 3; // PWM, PORT 2
        final int BACK_RIGHT_SC = 4; //PWM, PORT 3
        final int LIFT_SC = 5; //PWM, PORT 4
        int session;
    Image frame;
       
        Joystick driver;
        Talon frontLeft;
        Talon frontRight;
        Talon backLeft;
        Talon backRight;
        DoubleSolenoid sol1;
        Compressor comp;
        Talon lift;
        CameraServer camera;
 
    public void robotInit() {
        driver = new Joystick(JOYSTICK_PORT);
        frontLeft = new Talon(FRONT_LEFT_SC);
        frontRight= new Talon(FRONT_RIGHT_SC);
        backLeft = new Talon(BACK_LEFT_SC);
        backRight= new Talon(BACK_RIGHT_SC);
        sol1 = new DoubleSolenoid(0,1);
        comp = new Compressor(0);
        comp.setClosedLoopControl(true);
        lift = new Talon(LIFT_SC);
        frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
 
        // the camera name (ex "cam0") can be found through the roborio web interface
        session = NIVision.IMAQdxOpenCamera("cam0",
                NIVision.IMAQdxCameraControlMode.CameraControlModeController);
        NIVision.IMAQdxConfigureGrab(session);
    }
 
    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
        while (isEnabled()&&isAutonomous()){
               
        }
    }
 
    /**
     * This function is called periodically during operator control
     */
    public void teleopPeriodic() {
        while (isEnabled()&&isOperatorControl()){
                double leftSpeed = driver.getRawAxis(1)*-1;
                double rightSpeed = driver.getRawAxis(5);
                double turns=driver.getRawAxis(3)*-1;
                boolean liftSpeed = driver.getRawButton(2);
                boolean liftSpeed1 = driver.getRawButton(3);
                frontLeft.set(leftSpeed);
                backLeft.set(leftSpeed);
                frontRight.set(rightSpeed);
                backRight.set(rightSpeed);
                        boolean push = driver.getRawButton(1);
                        boolean pull = driver.getRawButton(4);
                        if(turns <0){
                                frontLeft.set(turns);
                        }
                        else if(turns>0){
                               
                        }
                        if (liftSpeed == true){
                                lift.set(1);
                        }
                         else if(liftSpeed1 == true) {
                                 lift.set(-1);
                         }
                                else {
                       
                                lift.set(0);
                        }
                       
                if (push == true){
                  sol1.set(DoubleSolenoid.Value.kReverse);
               
                }
               
                if (pull == true){
                        sol1.set(DoubleSolenoid.Value.kForward);
                }
               
               
 
        }
    }
    public void operatorControl() {
        NIVision.IMAQdxStartAcquisition(session);
 
        /**
         * grab an image, draw the circle, and provide it for the camera server
         * which will in turn send it to the dashboard.
         */
        NIVision.Rect rect = new NIVision.Rect(10, 10, 100, 100);
 
        while (isOperatorControl() && isEnabled()) {
 
            NIVision.IMAQdxGrab(session, frame, 1);
            NIVision.imaqDrawShapeOnImage(frame, frame, rect,
                    DrawMode.DRAW_VALUE, ShapeMode.SHAPE_OVAL, 0.0f);
           
            CameraServer.getInstance().setImage(frame);
 
            /** robot code here! **/
            Timer.delay(0.005);         // wait for a motor update time
        }
        NIVision.IMAQdxStopAcquisition(session);
    }
 
   
    /**
     * This function is called periodically during test mode
     */
    public void testPeriodic() {
   
    }
   
}

If you have any idea on what we should do please post a reply