OH No Kevin,
Don't give away to much of the game....

As an exercise for my new programmers I had them flowcharting your original code to learn the structure and how it works. Our cameras are up and running on the FRC controller and the EDUbot.

I still have'nt quite figured out how to track multiple targets yet, though. THe nearest I can figure is the camera will box off multiple masses and locate the center of gravity of all those masses. But how to identify individual masses within the same field of view is still a mystery.

BrianC

QUOTE=Kevin Watson;552130] If you're referring to my camera code, I may release an update that changes some code in tracking.c/.h, but I haven't decided yet. The code posted to my website should already find the light(s) for you, but there are some changes (a few tens of lines of code) that can be made to help you determine the location of a peg/spider leg. With my code, you're 98% there already, I'm hoping there will be much discussion here on how to best navigate to the nearest peg/spider leg (you guys have to do some of the engineering <grin>).

-Kevin[/quote]