Update Andre README

Author: Sam Whitaker

2022/AndreTheGiant/PathBot/README.md

@@ -1,7 +1,7 @@
 # Andre the Giant - Rapid React 2022
 Andre the Giant was a French wrestler and actor. He was known for his great size, which led to him being called the "Eighth Wonder of the World". He was most known globally for his role in the hit Disney film _The Princess Bride_, in which he played the beloved rhyming character Fezzik. Packing great strength into an endless heart, Andre (and Fezzik) is a reliable, unstoppable human being. 
 
-Many of his characteristics are found in this year's iteration of Team 3405's competitive robot, except for one. Our robot, fondly named after Andre, packs great defensive strength into a small size. The bot is virtually unstoppable and will never be pushed around due to its West-Coast drivebase powered by four CTRE Falcon500 motors and a two-speed gearbox. Vision processing is achieved through the exclusive use of a single LimeLight camera, with a Microsoft USB camera being used for Driver assistance rather than actual processing. Someday, our version of Andre the Giant may be able to find rhymes to everything, but we do not have a robot named Vicinni to annoy with constant rhymes. Therefore, this may never actually happen. Previous versions of the robot have included names such as "The Robot of Unusual Size", the "Inconceivable Bot", and "Inigo Montoya".
+Many of his characteristics are found in this year's iteration of Team 3405's competitive robot, except for one. Our robot, fondly named after Andre, packs great defensive strength into a small size. The bot is virtually unstoppable and will never be pushed around due to its West-Coast drivebase powered by four CTRE Falcon500 motors and a two-speed gearbox. Vision processing is achieved through the exclusive use of a single LimeLight camera, with a Microsoft USB camera being used for Driver assistance rather than actual processing. Previous versions of the robot have included names such as "The Robot of Unusual Size", the "Inconceivable Bot", and "Inigo Montoya".
 
 
 
@@ -35,3 +35,13 @@ A special thanks goes to team 3374 (the JacksonHole RoboBroncs) and their progra
 - Four ***CTRE Falcon500*** motors: Arguably the best motors in all of FRC History and our "secret" ingredient. These will never stop for ***anything***!
 - ***Two-Speed*** Gearbox: For when the robot we're defending decides it wants to push back: We can push anyone and anything around!
 - ***Efficient and Power-Aware***: Current limits (and other spices) to prevent browning and provide infinite robot-pushing power.
+
+### Vision Processing
+- Vision targeting is achieved through the use of a ***Limelight Camera***.
+- The Limelight LEDs are only powered on when the Robot's target acquisition programs are active:
+  - ```alignRobot```: Aligns the robot to a series of targets based on dual-crosshair target grouping. The robot will spin in a circle until it finds a target, then move either left or right to achieve alignment (with a 10-degree margin of error, which should be offset by the large diameter of the Upper Hub).
+  - ```getDistance```: Uses the known target width of 12.5 inches (two 5-inch targets and a 2.5-inch gap in between) to calculate the FOV and distance from the target. In the future, the program will be able to determine proper motor voltage ratios to allow 100% target accuracy.
+- There is a secondary serial-ported camera affixed to the front of the robot that is used only as a driver assistance device.
+
+### Intake
+