[Justyn]

Thought of semi-solutions to some of my own questions.

1) If the camera picks up only your own alliance's tetras it will draw a box around the two of them and return both the centre coords of this box and also the coords of the corners of the box. So your robot can assume that there is a tetra at each edge of this box.

2) You CAN constrict the camera module's viewing window and so therefore tell it only to look at the place where you think the tetra is. From here you can both determine whether its your own tetra and more accurately where it is by taking the centre value.

So I think I'm more or less satisfied about the whole vision tetra issue(s). Thanks to all for the help.

Justyn.