[MacFlightSierra]

Well, there are several steps to this. Let me assume that you are using MPLab and have the camera code in your project. If so:

- the auto code is coded in user_routines_fast.c, in the userAutonomousCode routine
- make use of the 3 functions that Kevin uses to track the light (info terminal, camera handler, servo track) - in that order.
- you will have full access to all the variables that you need, especially the getTrackingState function from tracking.c
- establish a path in which you want the robot to move, and use the 26.2 ms loop timer as a rough estimate (38 loops per second). Code that motion first - make it move in the direction you want (probably forward), and stop
- then, start calling the camera functions. You will have the getTrackingState info to establish when the camera is locked on the target
- once the camera is locked, you can manipulate and adjust your shooter/robot to whatever positions you want - use the pan servo and tilt servo aliases from tracking.h as reference


for example (my code is very simplistic, since we dont use any other sensors):

////////////// move forward //////////////////

if (AutoClock < 10) //AutoClock is a timer that counts every 10 loops
{
FWD(); //bot moves forward
}
else if (AutoClock < 35)
{
Stop(); //bot stops
AimFire(); //calls the camera aim routine [see below]
}
else
{
Stop(); //stop robot
//stop shooter
}

/////////////////// use camera to light up and fire /////////////
/* Camera Controls */
// send diagnostic information to the terminal
Tracking_Info_Terminal();

// This function is responsable for camera initialization
// and camera serial data interpretation. Once the camera
// is initialized and starts sending tracking data, this
// function will continuously update the global T_Packet_Data
// structure with the received tracking information.
Camera_Handler();

// This function reads data placed in the T_Packet_Data
// structure by the Camera_Handler() function and if new
// tracking data is available, attempts to keep the center
// of the tracked object in the center of the camera's
// image using two servos that drive a pan/tilt platform.
// If the camera doesn't have the object within it's field
// of view, this function will execute a search algorithm
// in an attempt to find the object.
Servo_Track();
/***************************************/

if (Get_Tracking_State() == SEARCHING)
{
AutoCMULookingForTarget = 1; //indicate if camera is locked or searching
AutoCMULockedOnTarget = 0;
}
else if (Get_Tracking_State() == TARGET_IN_VIEW | Get_Tracking_State() == CAMERA_ON_TARGET)
{
AutoCMULookingForTarget = 0;
AutoCMULockedOnTarget = 1;
}

if (AutoCMULockedOnTarget) //Line up if Locked
{
if (PanAngle < LeftLockLimit) //Camera is pointed LEFT -> turn LEFT
{
Left();
}
else if (PanAngle > RightLockLimit) //Camera is pointed RIGHT -> turn RIGHT
{
Right();
}
else //Robot is Horizonally Locked on target -> STOP Auto Alignment Procedure
{
Stop(); //stop robot
//Shoot
}
}
else //CMU Searching
{
Stop(); //stop robot
}


sorry for the messy code and long post

best of luck