| Code\\Pilot |
15-02-2005 19:27 |
Re: AUTO TRACKING!!!!!!:(
Quote:
Originally Posted by devicenull
I had this same problem. Rather then spend a long time fixing it, I just control the servos right off of the RC.
It's working fine, and is legal (I had thought it wasn't at one point, but there is a question in the Q&A thing that says otherwise, ID 1480)
Here's the code that we are using.. it should be easily changed to other configurations
Code:
//Pan and tilt servos
#define cam_pan pwm01
#define cam_tilt pwm02
//Internal posistion variables
unsigned char cam_p=128;
unsigned char cam_t=128;
if (cam.x == 0 && cam.y == 0) {
//cam_pan and cam_tilt control the servo's on the mount
//cam_p and cam_t are our local variables
cam_pan = cam_p;
cam_tilt = cam_t;
//Tell the camera where the servos are,
//so we get useful values when it finds a target
camera_set_servos(cam_pan,cam_tilt);
//What color do we want to track?
camera_find_color(GREEN);
//This does all the panning
cam_p += 10; //X pan
if (cam_p > 210) { //if we hit the x limit
cam_p = 46; //start over
cam_t += 10; //but change the tilt
}
//if we've tilted too much
if (cam_t > 117) cam_t = 97;
}
else {
//sometimes we get nonsense packets, this fixes them
if (cam_pan > 0 && cam_tilt > 0) {
//update the servo and our var with new servo values
cam_p = cam_pan = cam.pan_servo;
//update the tilt servo with new tilt value
cam_tilt = cam.tilt_servo;
}
}
The trick here is we fool the servo into thinking the servos are connected to it. We do that with the camera_set_servo command. After it finds a target, we update the servos with where the camera thinks it is. The only thing I wanted to do with this code is get rid of the internal variables that hold the servo posistions.
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when do you tell it to stop and go for the tetra?? |
