How do you code vision sensors using V5 block code?

Hello I’m trying to code a vision sensor for an autonomous program to drive forward and pick up the smaller yellow mobile goal in the vex tipping point game, I have some of a code I found from a YouTube tutorial and I’ve taken the snapshot of the goal so that the vision sensor will detect it but the vision sensor is not telling the robot to stop, it just keeps spinning or moving in random directions. Thanks in advance, here is my code so far; (The disabled code in the background is just my drivetrain and pneumatic code.)