So we have autonote tracking working. But a design change has made it ideal to move the camera to the side of the robot. No mater what I did tonight I could not get dual point robot offset to return me the correct yaw for the note. It was almost as if it was the wrong side. I did the first point as the close one and the far away one. The yaw is returning 0 degrees when the note is off to the side of the robot and not when it is in front of the robot.