Stage 13: Vision Subsystem

The project adds Vision.java beside the finished TeleOp. Vision becomes another owned subsystem; it does not replace CompetitionTeleOp.java.

The simulator keeps CompetitionTeleOp selected as the runnable entry point and carries forward the same DECODE competition robot. Your existing drivetrain, intake, transfer, launcher, and sensor code remains untouched while the camera layer is added.

Your Task

1. Map webcam "Webcam 1" inside Vision and build an AprilTagProcessor.
2. Build a VisionPortal with the camera and processor.
3. Iterate safely over current AprilTagDetection objects.
4. Read tag ID and ftcPose data for navigation telemetry.
5. Define multiple OpenCV Rect regions for left, center, and right analysis.
6. Classify a stable left, center, or right selection.
7. Initialize and update Vision through RobotHardware.
8. Close the VisionPortal through the subsystem's cleanup method.

Treat missing detections as a normal state. Your program must not assume a tag is always visible.

Coding Challenge Simulator

Telemark Unit 14 Comprehensive Coding Challenge

The editor opens your saved cumulative DECODE project and adds only the files introduced by this stage.

Use Init and Start to check every unit objective. Passing every check demonstrates full unit mastery.

Complete the stage across its file tabs. The requirement panel checks the compiled project, and a passing stage saves a read-only snapshot.

Passed every challenge check?

Mark the unit mastered to record every lesson objective and continue directly to the next unit. Your progress will be saved in this browser.

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Ask about anything on this page. It can see which lesson you have open and which part you are reading.