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Does anybody know what I should include in my code to perform this function? I guess I want the software to tell the PC read in a frame of pixel data from the USB port, and store it in an array. The rest of the program would then process this array to determine the robot's location, and hence send the necessary control signals back to the robot.
This is not a good idea. You will not be able to get the robot to figure out where it is from images unless the robot has a detailed blueprint and/or 3D model of the area in it's memory to refer to.