OpenMV M7 RoboRio Code

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2018 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package frc.robot.utilities;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.SerialPort;

/**
 * Add your docs here.
 */
public class ByteVision
{

    SerialPort visionPortIntake;
    double lastValue = 0.0;
    int counter=0;

    public ByteVision()
    {
        try
        {
            visionPortIntake = new SerialPort(115200, SerialPort.Port.kUSB);

        }
        catch (Exception e)
        {
            DriverStation.reportError("ERROR: Vision tracking intake camera", e.getStackTrace());
        }
    }

    public double getDataIntake()
    {
        if (visionPortIntake != null)
        {

            try
            {
                counter=0;
                lastValue = Double.parseDouble(visionPortIntake.readString());
                return lastValue;
            }
            catch(Exception e)
            {
                counter++;
                if(counter<25)
                    return lastValue;
                return 0.0;

            }
        }
        return 0.0;
    }