Vision Sensor Code

I am trying to code my robot to use its vision sensor to drive until it sees a certain color or signature and then to pick it up with a claw,I was hoping I could have some assistance. I am using vex code C++.

An example here, well, I guess not exactly what you are looking for, but once you have the position of the object you can move the robot and arm so it’s in the correct position to pick up.