[Joe_Widen]

Heres how I would do it.

First, have the camera find the green light above a trailer that you want to dump in. Next, have the robot line itself so the direction the camera is facing(hopefully in the direction of the green light) is the same direction the robot is facing. Next, drive forward. As you get closer to trailer of the robot, the camera should change pitch. You need to know at what pitch your camera is at when you are near a trailer. When you get to that pitch, tell your robot to stop moving and unload your balls.

Good luck. IMO, its really not to difficult to code. If you can follow my steps, its quite simple. Gettin the bugs out of it and making it run smooth is another story. But you need to start somewhere.