1) Move vision logic to its own thread
2) Use WPILIB API's to detect which alliance we're on, and switch pipelines based on that
3) Add a dashboard icon showing if we actually see a ball (hasTargets())
4) Add a small vision processing stream to the dashboard to show photonvision's output stream
1) Move vision logic to its own thread 2) Use WPILIB API's to detect which alliance we're on, and switch pipelines based on that 3) Add a dashboard icon showing if we actually see a ball (
hasTargets()) 4) Add a small vision processing stream to the dashboard to show photonvision's output stream