Cube Tracking

This is the wiki page for our cube tracking algorithm, utilizing data coming from a video feed that is processed by the Limelight Vision Processor. We use the Tx value from the limelight table which is the width of the screen to be able to center the cube in our cross-hair which is where the intake is. We use the Ty value from the table to see the distance from the target to our cross-hair so we know if we need to move our robot forward or backward. We use the Tv value from the limelight table to see how many targets are available to see if we need to start moving forward to intake it. We check to see how close the cube is to the intake and once its close enough to be able to be intaked, we run the intake motors so we can get it into our grippers.

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