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Re: cam2 hight
In general, the higher you can place the camera, the better. Positioning it higher on the robot will give more of a downward look angle as the camera is aimed at the vision tetras when the robot is in the starting locations. This is desirable, as it will fill more of the field of view of the camera with the carpet on the field. Less background clutter (audience, off-field elements, opposing team t-shirts, etc.) will be visible to the camera, which should reduce the frequency of false positive readings when searching for the vision tetras.
-dave
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