Default Camera Code Flowchart
 

Does a flowchart or anything equally useful exist that could explain the Default Camera Code?
If so, please post it for everyone's benefit.

Thanks

Re: Default Camera Code Flowchart
 

If we are using camera and not in autonomous mode then...
1: Initialization
Wait 1 second -> Set exposure values (Blink OI if no camera detected and wait) -> Enable auto servo mode

2: User Input (If initialization succesful)
port 2 top: cycles camera servo rotation
port 2 trig: cycles color to be tracked (enables tracking & displays on OI)

3: Tracking (Once initialization completed and trig 2 tapped and trig 1 held)
If we detect color then:
Use auto servo mode's servo rotation as p1_x
Use speed_control as p1_y
Use these values to simulate 1 joystick driving

Otherwise:
Default Drive