[gnormhurst]

I've had trouble with the beacons at the Trenton Regional, but my trouble was that the beacons were too strong, not too weak. That and the people running the event were barely aware of "IR beacons" and did not know how to tell me which was beacon Type 0 and Type 1. See my story.

Our trackers seemed to see IR from lots of directions -- reflections -- and the "lock" paradigm of "I'm locked when both sensors see some IR" leads to trackers that lock in almost any direction.

I am trying a new approach outlined in my post here. My current problem is what I call RC "brain farts" -- the printf data occasionally gets corrupted and sometimes one or other tracker may suddenly zip all the way to one end. It's as if something was trampling on memory. I remember reading something Kevin Watson posted about not saving enough context info before each interrupt service. I'll look that up and see if I can apply it, and see if it helps.