In May I plan to release a white paper about FRC Tele-Operated HMI that you may be interested in.
It seems we have the opposite problem you have - we know how to acquire & use the vision data in tele-operated, and we have plenty of it - but getting a simple message back to the robot seems to be our Achilles heel
. The programmers worked out the issues on the test platform before we packed everything up last weekend, but we'll see what happens at Champs on the real robot.