Quote:
Originally Posted by Tyr333
I've noticed that when the camera is in a search, if the camera is resetting its pan for a new sweep:...and if the camera sees the light during this motion of resetting the pan to its minimum, when it arrives at this new pan position, the camera tilts down. It continues to search at this lower tilt, reaches the maximum pan, tilts back up, sweeps to its minimum pan, sees the light during this trip, and tilts down again. It continues this loop and never tracks the light...What can we do to fix this?
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You can change the search pattern code to do a zigzag sweep instead of always going left-to-right. That way it will never be panning too fast to stop when it sees the light, and it won't need to restart the search immediately upon glimpsing and then losing it.
Here's an overview of one way to go about it. Where it tests for the pan value being greater than the maximum limit, set a flag instead of resetting to minimum. Add a similar test for the pan value being less than the minimum and reset the flag if it is. Where the code adds the step size to the current pan value, have it subtract instead if the flag is set.