Gyro vs. Encoders for Driving Straight

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Use encoders for distance, use gyro for driving straight. With a properly tuned PID and a good gyro, you'll be off by at most 1/2" over 30 ft. Once we redid our autonomous for champs, we didn't need our camera half the time to score.

That said, with a shooter you want a camera for locking onto the target. Typically you're going to slide laterally during some situations (such as crossing a defense) and only a camera will allow for correction to that error. There's default image processing code in the FRC install every year, I'd recommend looking at it. The roboRIO is powerful enough to process 320x240 @10 fps.