[amateurrobotguy]

It seems like all of the things Kevin kindly updated, I already did myself last season:

" Altered tracking algorithm to use the t-packet confidence value to
determine whether the code should track or search.

Added Get_Tracking_State() function, which can be used to determine
if the camera is pointing at the target."

" Provided two new functions to set the pan and tilt servo position.
This was done to provide a level of indirection so that the servos
could be controlled from the robot controller or the CMUcam2."

I saw that t-packet confidence could be useful, and added it to the if() in tracking.c before it romped off tracking the "target". I also don't need a Get_Tracking_State() as I just check to see if tpackets.my = 1 before I let it go go romping off tracking. And yeah, I noticed that some of the PWM values were fuzzy as well while testing. But, I just changed tracking.h around and got it to work fine.

" Fixed bug in search initialization code where temp_pan_servo was
initialized to zero instead of Tracking_Config_Data.Pan_Min_PWM."

Hmmm, didn't really have any problems with this.

Am I missing something huge here? Is there really any need to update?