[Greg McKaskle]

If you were to put the vision-guided aim and shoot into teleOp, you can guarantee that the driver won't interfere with it, because no driver station input will be delivered to teleOp. But unless you trust it to be fast and not need the driver to interrupt it, I'd recommend against it.

Periodic tasks is specifically set aside as a place for independent periodic things. It is fine for periodic tasks to read the joystick directly, but you can have it read global variables if you like.

Closing the loop with vision is possible, but is made difficult because cameras are slow and noisy sensors. This is made worse because their acquisition timing is not well known, and in fact, on a moving robot, the image smears and gets blurry. So it is often recommended to close the loop using a gyro or other sensor. The camera provides supervisory input and often only one or two supervisory loops are needed before you are in tolerance.

Greg McKaskle