@Foster
I promised a few weeks back to put something together showing how to use the vision sensor from ROBOTC. Here is a simple demo that can be used as a starting place. I have only implemented very basic object reading from the vision sensor. The sensor would be trained using the vision utility in VCS or available as a stand alone install from the PROS repo (link below).
The I2C communication is based on the generic sensor library I created for this project.