get cam to stop
 

How can i get my robot to stop in autonomous mode when it gets so close to the light??

Re: get cam to stop
 

Try checking the tilt variable in tracking.c
If it exceeds a certain value, then your camera is looking really high up, and you need to stop.

Another idea (a bad one with the possibility of two lights), is to use blobsize. Blobsize is in the variable (unsigned int)T_Packet_Data.pixels

Note that both of these are aribtrary values, they depend on how you set up your equipment. If your light is sitting at the same height as your camera, the tilt will never change and the robot will never stop.

Re: get cam to stop
 

If your camera is on the servos, look at the tilt variable and do some trigonometry.

If your camera is not on a tilt servo, look at the y axis error and do the same thing.