[Tom Bottiglieri]

I found a bug in the old search code. Not sure if someone has seen this before or not. We have our camera mounted upside down. So, top is bottom and left is right. The camera still tracks the right way because the image is flipped, but the search code looks at the floor instead of the ceiling. When we have the target in front of the robot and elevated a bit, the search code freaks out. As it transitions from its max tilt pwm to its min tilt pwm, it does a diagonal. While traveling this path, it gets a new t packet (I see the red light on the camera flash) as it passes where the light is. As soon as it gets to the other corner, it doesn't see the light anymore, but it continues to drop to the middle tilt search pwm and scan on that level, at which it does not get a new t packet.

This problem will go away when we change the search code to our own algorithm, but I still think it is a bit of a problem.