The camera software generates a 'closeness' value which increases as the robot gets closer to the vision targets. These values can be mapped to pysical distances on the following table:
| Distance (inches) | Closeness Value |
|---|---|
| 10 | 4100 |
| 12 | 3800 |
| 18 | 2400 |
| 20 | 2000 |
| 24 | 1600 |
| 30 | 1150 |
| 36 | 900 |
| 40 | 750 |
| 48 | 600 |
Since the camera will be positioned about 8 inches into the robot, and the peg is 10 inches log, the robot should approach the target to a closeness value of about 2400.