This program utilizes the Microsoft Kinect to: 1 Determine what game piece we're looking at: a. gray tote b. yellow tote c. recycle bin 2. Distance to the object 3. Degrees needed to turn to line up with the center of the object. 4. Ratio: the ratio between the height and width of the object. This is used to line up with either the long side or the short side. 5. Determines if the object is 2 totes stacked 6. Determines if the object is 3 totes stacked