VisionExampleRobot.java

package edu.wpi.first.wpilibj.templates;

import edu.wpi.first.wpilibj.SimpleRobot;
import edu.wpi.first.wpilibj.camera.AxisCamera;
import edu.wpi.first.wpilibj.camera.AxisCameraException;
import edu.wpi.first.wpilibj.image.BinaryImage;
import edu.wpi.first.wpilibj.image.ColorImage;
import edu.wpi.first.wpilibj.image.CriteriaCollection;
import edu.wpi.first.wpilibj.image.NIVision;
import edu.wpi.first.wpilibj.image.NIVisionException;
import edu.wpi.first.wpilibj.image.ParticleAnalysisReport;

public class RobotTemplate extends SimpleRobot {
    
    AxisCamera camera;
    
    public void robotInit() {
        camera = AxisCamera.getInstance();
    }
    
    public void operatorControl() {
        try {
            CriteriaCollection cc = new CriteriaCollection();
            cc.addCriteria(NIVision.MeasurementType.IMAQ_MT_AREA, 200, 65536, false); // Filter small particles
            
            ColorImage colorImage = camera.getImage();
            BinaryImage colorThreshold = colorImage.thresholdHSV(105, 137, 230, 255, 133, 183); // Filter only bright green
            BinaryImage particleFiltered = colorThreshold.particleFilter(cc); // Apply small particle filter
            
            int numParticles = particleFiltered.getNumberParticles();
            
            for (int i=0;i<numParticles;i++) {
                ParticleAnalysisReport report = particleFiltered.getParticleAnalysisReport(i); // Go through each particle
                // These particles should only be the reflective tape
            }
        } catch (AxisCameraException e) {
            e.printStackTrace();
        } catch (NIVisionException e) {
            e.printStackTrace();
        }
    }
    
    public void test() {
    
    }
}