Confusion On How GRIP Works

[Lesafian]

Hi everyone, I have some confusion about GRIP.

1) How will the robot know that it needs to move into position to shoot. So let's say in my GRIP pipeline I have all of the images for the high goal on the boiler masked out with Contours. Will the the driver need to drive into a position where the camera (Lifecam-3000) can see the reflective tape, and GRIP will assume "Oh, I see a matching image to the contours for the tape, I will run [insert code here]".

2) Do I need to remask and take new pictures for every competition I go to? I've been told that teams take new pictures at every competition, mask them out, etc. Is that necessary or can I use the same images for the entire season?

I hope my questions are understandable, if not I'd be happy to clear anything up. Also I've looked and looked for code examples or tutorials. All I have been able to find is the introduction to grip screensteps tutorial, which doesn't really show anything but putting out values from images.

Thanks!