[gwytheyrn]

Well, the code provided by FIRST detects the target fairly well in the pits at Buckeye. I'm not all sure how it was working on the actual field, with incandescent bulbs instead of fluorescent/LED lights, and I didn't calibrate it at all. My drive team tells me it worked fairly well at a distance, but is not very good close up (This is due to MY programming, since the turret won't turn fast enough to keep the target in the field of vision up close)