#FORMAT python

from pyrobot.brain import Brain

class VisionBrain(Brain):
   def setup(self):
      # get a camera that is already running and
      # add a function to the filter list:
      self.robot.camera[0].addFilter('match', 158 , 71 , 48 , )
      self.robot.camera[0].addFilter('match', 225 , 129 , 89 , )
      self.robot.camera[0].addFilter('match', 188 , 109 , 68 , )
      self.robot.camera[0].addFilter("superColor", 1, -1, -1, 0) # rgb weights, 0 = red channel
      self.robot.camera[0].addFilter("threshold", 0, 50) # red channel, 50 > 0
      self.robot.camera[0].addFilter("blobify", 0) # red channel
      # filters return values in robot.camera[0].filterResults
   
   def step(self):
      # do something with the camera processed data:
      print self.robot.camera[0].filterResults
            
def INIT(engine):
   return VisionBrain('SimpleBrain', engine)