Main.java

import cbccore.movement.*;
import cbccore.vision.*;

public class Main {
	public static void main(String [] args) {
		MotorDriveTrain dt = new MotorDriveTrain(new Wheel(0, 15.5744, 1.), new Wheel(1, 15.5744, 1.), 11.);
		Camera c = new Camera();
		Blob mostProbable = null;
		int bestConfidence = 0;
		BlobList bList = new BlobList(c, 0);
		System.out.println(bList.size() + ", " + c.getAvailableBlobLength(0));
		for(Object i : bList) {
			if(((Blob)i).getConfindence()  > bestConfidence) {
				bestConfidence = ((Blob)i).getConfindence();
				mostProbable = ((Blob)i);
			}
		}
		
		int destination = 100;
		
		while(true) {
			while(!mostProbable.update()) { c.update(); }
			if(Math.sqrt(mostProbable.getSize()) > 100) {
				dt.moveAtCmps(-dt.maxCmps()*Math.abs((double)mostProbable.getSize()-destination)/320.);
			} else {
				dt.moveAtCmps(dt.maxCmps()*Math.abs((double)mostProbable.getSize()-destination)/320.);
			}
		}
	}
}