Vision tracking

[n-arms]

Using the limelight for vision tracking will massively help our performance at Stemly and allow us to get experience working with the limelight at competition: it's definitely a good idea.

We can use the limelight in a couple of different ways: intaking from the ground and intaking from the double substation. Of the two, intaking from the ground will probably require less finicky calibration than from the double substation, and it's still very valuable.

ground intake

• the limelight will need to be calibrated to track purple cubes
• the robot will need to use a PID loop to steer towards the targets
• the code will need to track the distance to the nearest cube so that the robot doesn't try to move toward a cube in its claw
• the robot needs a command to move towards the closest cube and ground intake simultaneously (using Write commands to automatically intake and score game pieces #9)