[EthanMiller]

If you look through the CircleTracker demo (It's one of the FRC examples), it gives you what you need.

You'll need the UpdateVisionDashboard.java (I think, still figuring it all out) and the Target.java files copied into your project, then you'll need to work out the code in the TeleOp section of the CircleTracker Demo to see what needs to go in the Autonomous section of your code, assuming you're building autonomous.

Be sure to kill the If statement surrounding the thing and checking for the trigger, or it won't work.

I also recommend reading through all of the files to figure out what they do - translating each line/set of lines into English helps.