Plan BT for each task

[VECTR0]

• yellow gate
• red-green gate with red flares
• yellow flares
• baskets and ball

[VECTR0]

[VECTR0]

Yellow gate changes:

• try detecting N times before failure for the first time
• M times failed detection before loosing gate after first acquisition
• maybe remove spin search due to low probability

[VECTR0]

Iterative target yaw aiming algorithm calculations (given Hfov(A), BBox center(C); returns deltaYaw(d))