Ok, thanks for your questions! I believe I can answer them both. We use our IR sensors to find the ball, and our camera exclusively for goals. Since the lightweight ball is difficult to track (its colors are irregular and not as bright as the orange Open ball), we didn’t see the need to use camera for it. With regards to the utility of our vision system, we have achieved goal tracking for aiming. We have found that with the precision so far, it is not possible to accurately calculate absolute position on the field yet. We are currently working on implementing new algorithms to enhance the precision of goal tracking, which should enable accurate positioning. Additionally, we saw the potential for enemy tracking eventually, for our mechanical specialist’s obsession with “juking,” or the dodging of enemy robots. If we can avoid the opposing team at the last second, it becomes much more difficult to them to block us and eliminates the classic “sumo problem,” in which it is merely the team with stronger motors that can push the others away and score. This solution is also not very elegant. Thus, our attempt to circumvent the use of force with increased software.