[apples000]

For rebound rumble, we used LabVIEW to program our robot. We actually found that it was much easier to process about 8-10 images per second and just use a PID loop. The tracking wasn't perfect, but it was simpler to implement than doing the math to figure out the change in angle that our turret needed to have. Also, it was easier to build because our turret never had position feedback and used the image coordinates instead. We were able to sucessfully drive back, tip the bridge, then drive forward and make both baskets lining up using this method, and my goal was to do something similar in Java, which we will use this year.