After scratching our collective heads over getting our turret to point AT the light instead of 20-degrees or so off, we dug into code with some printf's, and searched here to find some sort of answer. We have been using the .mx number for a pan angle, but in Kevin's code where the camera reports out the T_Packet_Data stuff, we find that it's using PAN_SERVO for the number (and converting it to degrees). There was also this tidbit from "Moving robot while tracking with camera questions..." (which I think I can manage to show at
http://www.chiefdelphi.com/forums/sh...ad.php?t=42993 -- yes! I did it!) with this answer:
Quote:
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The tracking code automatically moves the servos to get the target in the center of the camera's field of view. The variables that the camera gives you are T_Packet_Data.mx, T_Packet_Data.my, T_Packet_Data.x1, T_Packet_Data.x2, T_Packet_Data.y1, T_Packet_Data.y2, T_Packet_Data.pixels, T_Packet_Data.confidence. mx and my are the coordinates of the center mass of the target. x1, y1, x2, and y2 are the coordinates for the bounding rectangle of the target. pixels is the blob size, and confidence relates to how close the actual target color is to the pre-programmed target color. The servo positions are accessed via PWM. You can use the constants PAN_SERVO and TILT_SERVO to get the positions.
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Once we used PAN_SERVO, the skies brightened, the clouds parted, angels sang, and most importantly the camera and the turret both agree where the green light should be. Say it's ain't so, Kevin, that all this time I should use PAN_SERVO instead of T_Packet_Data.mx to find the pan angle!
For the record, we are using the Bells and Whistles version of camera of Feb 20th.
Roger.
who somehow managed to code urls, quoting and bolding for the first time! Better than them angels singing!