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Vision is lame "smeared glass" especially for low goals a working camera is a must, still working on our auto HG routine.
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it was hard to see only sometimes, our drive team did not have a camera. However, by being careful in choosing defenses it was not a big problem. We just line up by hitting the tower and backing off the batter. Just for credibility I will add that I am on the drive team, also we have a sub 14" robot.