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Re: Blob Size
Heres what I would suggest. If you have to, you can still use the fixed mount to determine distance. I believe that there is a way to "shift" where the camera's center is (Maybe its shifting the centroid of the blob). In other words, you can have the camera pointing slightly offset of the target, yet still have it return center values.
So, have a routine that slaves the turret to the camera, until it finds the target. Upon finding the target, use the values to determine distance. Then, move the camera center values accordingly in order to correctly angle your shooter, if necessary. After that, unless it loses the target, you can subtract the current offset of the camera to determine current distance, and accordingly re-adjust the camera center to place your shooter "on zero".
I'm sure there is a more elegant solution, but perhaps this can be a place to start.
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Post number 600!
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