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Vision Hardware Setup

Camera Choices​

  • OV9281 (mono, global shutter) for AprilTags
    Why: global shutter prevents motion blur; monochrome boosts tag contrast.
  • OV9782 (color) for game‑piece detection
    Why: good color response and framerate; pair with tuned color thresholds.

Mounting​

  • Rigid bracket near robot centerline when possible.
  • Unobstructed FOV; avoid mechanism interference and glare.
  • Label cameras (e.g., tag-cam, piece-cam) physically and in PhotonVision.
  • Use the Orange Pi 5 Zinc‑V case for protection and airflow.

Thermal & Vibration​

  • Add a small fan if enclosed; thermal throttling adds latency.
  • Use locknuts + threadlocker on mounts to avoid slo‑creep alignment drift.