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Originally Posted by cmurdoch
I have both the camera code and the driving code working independently  , but I've been having some trouble combining them. I've added both user_SerialDrv.c and user_SerialDrv.h to the camera code and uncommented the IFI code in user_routines.c as well as in user_routines_fast.c. I've also tried to change the pwm output assignments of either our two drive motors or the camera servos. When I left the servos on pwm01 and pwm02 and changed the pwms for the motors the camera worked and the driving didn't. When I switched them the driving worked and the camera didn't, in fact, the camera just sat there and twitched.  Then, I assigned the servos to pwm01 and pwm02 and the motors to pwm05 and pwm06. The camera froze in home position and the driving worked for about 30 seconds before halting and displaying a code error. If anyone has any idea how I can fix this I'd really appreciate it.
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user_SerialDrv.c/.h will conflict with the serial port driver included with the camera code (this is documented in serial_ports_readme.txt). At the very least, you'll need to remove user_SerialDrv.c/.h.
-Kevin