#use "cmucamlib.ic"
/*
This program tests the camera and the color library.  To begin,
point the robot at a white object so that it can adjust its white
balance and gain and then clamp, or fix, them.  After this process,
the robot continually calls track_blue and track_orange. Note that
if they think they find a blob of that color, track_blue and track_orange
return the confidence but also set the position and size of the object
in globals (track_x, track_y, track_size, etc.). If the robot sees 
neither a blue nor an orange object it beeps and prints 'nothing.'
Note the confidence, which is printed out. For very blue or very orange
Poof ball-like objects, this should be high. If the robot falsely 
detects a blob, see if the confidence is really low.
Note that if there is a temporary comm problem, it will also beep and 
display an error message.  Comm problems (if not hardware related)
normally resolve themselves after a couple seconds.

HINT: be sure the slider switch is in the correct position so that
CMUcam is talking to the HB before you start the program/turn the HB on!

Written by D. Miller and others..., KIPR 1/11/03
*/

void main()
{
    init_camera(); // initialize the camera in YUV mode
    clamp_camera_yuv(); //clamp camera white balance in YUV mode
    while(!stop_button()) { // hold down Stop for a long time to quit //
        if (track_blue() > 5) { // you could make this 0 a much bigger
            // number, like 80 for example
            printf("blue found:%d\n", track_confidence);
        } else
          if (track_orange() > 5) {
              printf("orange found:%d\n", track_confidence);
          } else {
              beep();
              printf("nothing...\n");
          }    
    } // end while() //
} // end main() //