We used Limelight to detect April Tags and to align the robot to samples. We originally wanted to use MegaTag2 data for localization, but the SparkFun sensor was more accurate, and the April Tags were in unhelpful locations. In our testing we found Limelight to be best at 60 fps, not 90 fps, and it was significantly better than Logitech cameras. We found that our yellow sample detection was always the most accurate, and that LimeLight was usually the most reliable out in 90% of use cases.
