[billbo911]

Originally Posted by squirrel

That was the easy part. The hard part was figuring out how to make it work under the lights on the arena...at which point we gave up.

Figuring that out is an issue every year. One major key to achieving it is to understand how the lighting differences affect your calibration. Once you understand that, calibration at your school or shop will be easy, then just modify the calibration once you get to the field for it's lighting condition. Typically the only compensations you might need would be for exposure and white balance.
As an example: This year took all of 10 minutes on the field to lock in the White Balance and then fine tune the color and target detection.

Making sure you take advantage of the time provided on the field at each event for calibrating for it's lighting, is vital to having a reliable tracking system.