[mwtidd]

One thing is that you never set the relay to off.

I'd also be interested to hear how you plan to utilize vision processing. I see a handful of things that could cause issues:

1. Your delays are 1 second. That's probably long.
2. Your loops are set up to do 1 loop image processing, and then shoot for 20 seconds if hot is seen. I'm curious to hear your reasoning behind that.
3. You are looping through the vertical targets, but the hot goal is the horizontal one.

If you are trying to answer the hot or not question for now, I can probably help you do it a bit simpler. I've put together an alternative approach, which is much easier on the crio. I've also put together a video of how to incorporate it with the iterative command based project generated by robot builder.

Feel free to send me an email and I can share it with you. (mwtidd@gmail.com)