Yipee!! Much more work got done today, I added a bunch of new features! All of whom using new found computer vision code and processors.

1. Auto_TURN: It automatically turns to face a game piece, put it in the center of the game piece, and it will track it!
2. AUTO_FORWARD: Pretty self explanitory, but it will automatically drive toward a game piece, using PID too!
3. FULL_AUTO: Also pretty self explanitory, it automatically does both, drives forward AND rotates, effectively just going to the piece itself
4. MANUAL: Its full driver control…

(Image 1: Auto rotate controller; Image 2: Drive controller; Image 3: Enum and drive managing; Image 4: just drive mode switching)