[billbo911]

Originally Posted by JamesTerm

Did it work something like this?

I would prefer not to hijack this thread, but here is a short description of what we did. If you would like to discuss this further, please PM me or maybe I can create a new thread.

Yes and no. We never feed video back to the driver. We just used the value of "x center" of the ball to steer the robot whenever the driver needed assistance. One button on the steering wheel overrode the wheel position and replaced it with the "((image x center - ball x center value) * k)". "k" was a gain value used to bring the error value to a useful level to steer the robot.

All image acquisition and processing were done on a PCDuino on-board the robot. None of the network traffic for this crossed the WiFi network, it all stayed local to the robot.