Camera locked on
 

I have searched forever in the code but I cannot find a variable that says if the camera is or isn't locked on to the target. In atonomous I have trying to make our cannon fire once that the camera is locked on the the target.

Re: Camera locked on
 

Look in terminal.c in Kevin's camera code. Basically, you can check the value of T_Packet_Data.my, T_Packet_Data.pixels, or T_Packet_Data.confidence.

Re: Camera locked on
 

Thanks

Re: Camera locked on
 

Be careful about using T_Packet_Data.my. Kevin's code uses it extensively for distinguishing when the target is or is not in its view. Unfortunately, T_Packet_Data.my does not get cleared when the camera loses the target. I found that this would cause the camera to get stuck pointing off into space sometimes, so I changed all those references to use T_Packet_Data.confidence instead.

Re: Camera locked on
 

The tracking code also uses PAN_ALLOWABLE_ERROR_DEFAULT and TILT_ALLOWABLE_ERROR_DEFAULT to determine whether the camera is locked or not. Search_Target() already has most (but not all) of the logic. It was simple to modify our code to report the tracking state (searching/tracking/locked) and the target centroid location.

Re: Camera locked on
 

Thanks for pointing this out!