[Lil' Lavery]

On the topic of the autonomous scoring and the CMU Cam:
I don't believe that the CMU cam can track diamond plate (and even if it could, how would it differentiate the circles from the rest of the rack, alliance stations, and even potentially other robots). The lights serve as a reference to where the goal and approximate location of the spider legs are, but for more specific targeting, you will probably have to use additional sensors to identify the exact location of the legs.