[marshall]

For those that might be curious, the code for the vision tracking system is pretty elegant. It takes a single image from the camera and then tells the robot to turn a set amount based on the image. The targets are retroreflective tape in the shape of circles (frisbees from last year actually). We only use a single image to conserve bandwidth.

We've had people on our team who have never caught the ball or aligned the robot catching and aligning without any real thought because of the targeting system. It's pretty nifty.

I'm a proud mentor from all of the work these guys keep pouring into this.