View Single Post
  #19   Spotlight this post!  
Unread 23-01-2006, 22:23
Alan Anderson's Avatar
Alan Anderson Alan Anderson is offline
Software Architect
FRC #0045 (TechnoKats)
Team Role: Mentor
 
Join Date: Feb 2004
Rookie Year: 2004
Location: Kokomo, Indiana
Posts: 9,113
Alan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond reputeAlan Anderson has a reputation beyond repute
Re: Camera to motor setup

Look at tracking.c in the camera code provided by Kevin Watson. In the servo_track() function, it checks to see how many pixels off-center the target is. Only if it's more than Pan_Allowable_Error left or right, or Tilt_Allowable_Error up or down, does it actually move the servo to recenter the target in the camera's field of view.

So if you want to be as accurate as possible, you need to move the turret to zero the pan/tilt servo values and also cause the mx/my values returned from the camera to match the target pixel values.