I have sent an update email to everyone who posted. However, there was an issue with one of the email addresses, so if you did not get the message please post another comment. Sorry for the delay.
In response to jpaupore:
- I am a little confused about your first question. I believe you are asking if the relative tilt angle to each of the two lights can be directly inferred from the distance between them in terms of pixels and how off center they are. That's a good question, as the code stands now it does not actually yet move or orient a robot towards the lights so I have not even tried to figure out if this is possible using just the pixel data.
- At least for us last year, it was impossible to use the camera data as a form of feedback as we tried to turn to face the light. Instead we stored how far we needed to turn and then used a feedback loop involving the gyro to turn to that angle. After that the camera could be re-checked to reaffirm that we were in fact aligned, but during the actual movement it was too hard to synchronize the movement of the tilt servo and the robot.
Thanks to Mr. Watson and everyone else who has expressed interest in this work.