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Originally Posted by Keith Watson
When we saw values down to 140 with the green light that was with the target light tilted more than 45 degrees away and objects possibly partially blocking the light. But I consider 140 valid. With white lights we saw a maximum of 6. I would consider up to 10 invalid. That leaves a pretty large unknown range. Our programmer chose a level of 100. I think it was Greg who mentioned using 80 or 90.
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Keith,
Can you do me a favor? Can you grab this
code and test it under the conditions that caused the camera to send the low confidence t-packets? These are the changes I've made so far:
1) All changes to servo position are now done through two functions, which will make it easier for teams to use the CMUcam2 servo outputs if they desire.
2) Fixed bug in search initialization code where temp_pan_servo was initialized to zero instead of Tracking_Config_Data.Pan_Min_PWM.
3) Altered tracking algorithm to use the t-packet confidence value to determine whether the code should track or search. This value can also the changed on-the-fly from the tracking menu.
4) Added Get_Tracking_State() function, which can be used to determine if the camera is on target. New code in Process_Data_From_Master_uP( ) uses this function to turn on the switch3 LED on the operator interface when the camera is on target.
-Kevin