[Zero_Cool]

I have already written a working autonomous code with my team's robot, but I have a small problem that keeps occuring. Our robot will see the light and then a leg of the spider will obstruct the view of the camera, completely eclipsing the light. And if the camera is searching and can not find the light it will use those values and go into destroy mode killing everything around it. How can I use the tracking_state to stop the robot from moving if it doesn't see the light or if it has lost the light? I honestly do not understand the many states of this camera.