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Originally Posted by gnirts
...can Kevin's code be reworked to lock on pre-match?
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Yes, it can. I started working on this a few weeks ago, but my day gig sucked away any free time I had to work on it. But now I can. I have a new version of tracking.c that does all servo manipulation through two new functions. I haven't had a chance to test it yet, but if you'd like to, here's a link:
http://kevin.org/frc/frc_camera_beta.zip. Please report back here with the results of testing. I'll be able to work on this tonight, but it would be most helpful if I knew this code worked (or not) before I leave work.
-Kevin