[Mark McLeod]

Originally Posted by dmellich

Now the question is, how do we get the tracker code integrated with the default code so that all systems (drive, pneumatics, other motors) can operate simultaneously with IR? Are there certain files from tracker code (*.c, *.h) that need to be placed into the FRCcode to allow them to be compiled and linked?

Add these to your MPLAB project.
tracker.c
tracker.h

Use the routines in the tracker s/w as a guide to changes in the rest of the code.
Add in user_routines.c:

#include "receiver.h"
#include "tracker.h"

in User_Initialization()

Initialize_Receiver(); /* not required as it's also called by Initialize_Tracker() */
Initialize_Tracker();

In user_routines_fast.c add the whole "// external interrupts 3 through 6" interrupt section for the IR sensor interrupts.

	else if (INTCONbits.RBIF) // external interrupts 3 through 6
	{
		Port_B = PORTB; // remove the "mismatch condition" by reading port b            
		INTCONbits.RBIF = 0; // clear the interrupt flag
		Port_B_Delta = Port_B ^ Old_Port_B; // determine which bits have changed
		Old_Port_B = Port_B; // save a copy of port b for next time around
	 
		if(Port_B_Delta & 0x10) // did external interrupt 3 change state? - IR sensor 1
		{
			Int_3_Handler(Port_B & 0x10 ? 1 : 0); // call the interrupt 3 handler (in receiver.c)
		}

		if(Port_B_Delta & 0x20) // did external interrupt 4 change state? - IR sensor 2
		{
			Int_4_Handler(Port_B & 0x20 ? 1 : 0); // call the interrupt 4 handler (in receiver.c)
		}

		if(Port_B_Delta & 0x40) // did external interrupt 5 change state? - IR sensor 3
		{
			Int_5_Handler(Port_B & 0x40 ? 1 : 0); // call the interrupt 5 handler (in receiver.c)
		}
		
		if(Port_B_Delta & 0x80) // did external interrupt 6 change state? - IR sensor 4
		{
			Int_6_Handler(Port_B & 0x80 ? 1 : 0); // call the interrupt 6 handler (in receiver.c)

		}
	}

And add the tracker servo processing in Process_Data_From_Local_IO()

	static unsigned int Old_Clock = 0;

	if (Clock > Old_Clock) // stay synchronized to beacon data updates (this is important)
	{
		Track_Beacon(LEFT); // allow the left beacon tracker state machine to run
		Track_Beacon(RIGHT); // allow the right beacon tracker state machine to run
		
		if ((Tracker_Data[left].Status == BOTH_IN_VIEW) &&
			(Tracker_Data[right].Status == BOTH_IN_VIEW))
		{
			// both trackers have an angular solution; calculate beacon vector
			// here using the known baseline distance between the trackers and
			// angles derived from the two Tracker_Data[].Position variables

			// calculate new drive motor PWM values here

		}
	// finally, update the servo motor positions
	LEFT_TRACKER_SERVO = Tracker_Data[left].Position;
	RIGHT_TRACKER_SERVO = Tracker_Data[right].Position;
	
	Old_Clock = Clock; // take a snapshot of the clock
	}