[lynca]

The lighting is definitely difficult to test. We test with mercury lights which produces a huge amount of IR. The basic camera tracking would not work out of the box. We had to play with white balance on the configurations of the camera to tune for our lighting conditions. Be careful, the CMUcam GUI states white balance is turned on, but updating the configurations is not always assured depending on the camera state.

116's modular electronics is awesome!
if you look closely at our controls box released at the start of the month, you will see a similar modular electronics box with pneumatics included!!
soon we will upload pictures,
~Andrew Lynch