[Greg McKaskle]

Using the camera to close the loop is not as predictable as calculating an amount to turn and using a gyro to close the loop. But if your framerate is reasonable and your robot is moving or otherwise can turn pretty well, this also works. In 2008, we programmed and demo'd the Toro robot over and over at champs. It stayed a fixed distance from and followed a colored piece of paper or a T-shirt. And yes, it was running on the 8-slot cRIO using an Axis camera. No coprocessor required.

Greg McKaskle