Vision Systems

Ironclad uses PhotonVision on an Orange Pi 5 with two camera roles:

• AprilTags: Arducam OV9281 (global shutter, monochrome) for precise pose
• Game Pieces: Arducam OV9782 (color) for intake/align workflows

This section covers hardware, wiring, software, calibration, pipelines, and integration with our codebase.

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What You'll Learn

• Picking and mounting cameras (mono vs color, global vs rolling)
• Power + networking (static IPs 10.58.47.11+)
• PhotonVision setup and best‑practice configs
• AprilTag + game‑piece pipelines tuned for performance
• Fusing vision with odometry and visualizing in AdvantageScope

A properly tuned OV9281 mono pipeline is the backbone of our autonomous accuracy.