[apache8080]

We used a USB camera connected to a Raspeberry Pi. On the Raspberry Pi we used Python and OpenCV to track the goal from the retro-reflective tape. The tape was tracked by using basic color thresholding to track the color green. Once we found the green color we contoured the binary image and used OpenCV moments to calculate the centroid of the goal. After finding the centroid the program calculated the angle the robot had to turn to center to the goal by using the camera's given field of view angle. Using pynetworktables we sent the calculated angle to the RoboRIO and then a PID controller turned the robot to that angle. Here is the link to our vision code.