[AL_E]

Team, We are using Kevin's 'bells and whistles' code. It works great in RC mode, we are able to acquire and track the target at a distance using the default settings. We have defined the pan and tilt servos to be pwm08 and pwm09 respectively. When tracking in RC mode we display the pan servo value and it shows expected readings, changing as the camera pan angle changes.

When we try to use the camera in autonomous mode the pan servo seems to be getting conflicting commands. It shudders and does not move normally. When we display the pwm08 value it shows as zero. We are only using the following 3 functions within the autonomous mode loop, at the position indicated by the "add your autonomous code here" comment.

Tracking_Info_Terminal();
Camera_Handler();
Servo_Track();

When we display the pwm08 value via printf it shows as zero.

The pwm outputs for pan and tilt are commanded from the Servo_Track function, called from Camera_Handler and should remain set while in autonomous mode, correct? Am I missing something obvious? Naturally, we were able to command pwm outputs in autonomous mode in the past.

Thanks in advance for your help.

-Al