[Rickertsen2]

The camera has a tilt axis only. The camera's pan is locked to our turret. I am using a lookup table that maps camera angle to gun angle. I wrote a nifty script to generate the lookup talbes using quadratic interpolation given a few points generated through trial and error. A PD control loop is used on both the pan and tilt axis. There is a FIR-like filter on the D term of the tilt. If the camera looses sight of the target the turret reverts to manual control mode. It is up to the turret driver to get the target back in sight.

To determine the position of the pan and tilt axis we have an encoder on each as well as a limit switch to determine "home" position. When the robot is power up, both axis automagically find their home position. At this point, the pan encoder is really only used to make sure we don't try to spin the turret around too many times and for the magic button that goes back to come posistion. The OI has "target locked" and "ready to fire" lights.