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Originally Posted by Alan Anderson
Your provided code has a small disadvantage: the camera cannot track while the robot is disabled. That keeps robots from finding the goal target light in advance of entering autonomous operation.
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If the green light is within the camera's field of view when autonomous period starts, the software will converge on a solution in much less time than it'll take to fire-up motors.
Because the software is modular, I suspect that it would be very easy to let the camera do the tracking and/or control the servos.
-Kevin