[Donut]

We only attended one event (AZ Regional), so we've only used the camera tracking there, and in a classroom and a gym at our school.

For questions 1-3: we used the default light and color settings, but changed alot of the tracking numbers. We adjusted the max/min tilt and pan values, as well as the step sizes between them, but how much you want to vary that depends on the camera placement on your robot and the range of your shooter/rotator, so our numbers won't help you. We did effectively cut our camera tracking from 3 tilt and 4 pan positions to 2 tilt and 3 pan positions with the effect of actually locking onto the target faster and more accurately, so I would say that you can easily cut your camera's search time by half without affecting it's reliability with a little testing. You can also cut down on the time the camera spends at each position by a little bit.

4. AZ provided camera numbers, but our camera was already working fine so we ignored them.

5. We have had no problems at competition with outside/arena lighting; at our school we had problems tracking our flourescent lights at first, but this was easily remedied by changing the condition for having found a target to also include a check that the camera confidence was above a certain number (in our case, 20). Since then we have had no problems, even with flourescent lights only 1 foot above our green light.

6. If you use the solutions teams have been using to distinguish the light more effectively, and prevent your camera from looking straight up at the lights, I think you'll have no problems.