//inside main loop
int main() {

    ColorFinder* green_finder = new ColorFinder(120, 45, 35, 0, 0.3, 40.0);
    ColorFinder* blue_finder = new ColorFinder(225, 15, 45, 0, 0.3, 50.0);
    //created 2 new ColorFinder objects to find color green and blue
    
    BallTracker marker_tracker = BallTracker();
    //created a new BallTracker object to use camera tracking
   
//inside while loop
while(1) {

else if(StatusCheck::m_cur_mode == SPRINT) //under a new mode called Sprint
    {
    Point2D green, blue, center;
    //created 3 objects of Point2D class
    
    green = green_finder->GetPosition(LinuxCamera::GetInstance()->fbuffer->m_HSVFrame);
    blue = blue_finder->GetPosition(LinuxCamera::GetInstance()->fbuffer->m_HSVFrame);
    //store position of green and blue color
    
    if(green.X < 0 || blue.X < 0)
        center.X = -1;
    else
        center.X = (green.X + blue.X)/2;
    if(green.Y < 0 || blue.Y < 0)
	center.Y = -1;
    else 
        center.Y = (green.Y + blue.Y)/2;
    //calculate center of blue and green    
        
    marker_tracker.process(center);
    //use camera tracking
    }