Camera reads wall barcode. Count pixels → distance and heading → x and y location and heading.
Left
h = — px
Center of Camera View
Right
h = — px
VEX has not published the GPS sensor’s firmware. This page is a teaching model of the public idea: a rear camera reads the field barcode, a unique 15-square window names a place on the wall, and similar triangles turn pixel size into distance. Heading here uses left vs right barcode height plus a 180° rear-mount offset. A real GPS also fuses an onboard IMU, interpolates square corners to fractions of a pixel, and applies the X/Y/angle offsets you set in VEXcode. Treat the numbers as an approximation for class, not a copy of VEX code.