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Originally Posted by Billfred
This is something I kinda cooked up--season to taste:
Step 1: Know where you're starting, and make sure the robot knows, too. (A couple of switches on the digital inputs will solve that.)
Step 2: Via dead-reckoning or counting revolutions or something like that, get somewhere in the ballpark of the center goal. (Your robot should, after all, know how to get within a few feet, even if you're bumping a tetra out of the way.)
Step 3: Now let the camera do its thing.
As long as you don't have a really huge field of view, I'm willing to bet you should be good to go when it comes to the center goal.
Hope this helps!
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I would suggest (read: I will be) reversing steps two and three. Measure where you are (with encoders, or an absolute positioning system like StangPS) WHILE letting the camera track. Then, once you've got the vision tetra, you should be able to figure out what you have to do to get over the center goal.