Quote:
Originally Posted by Zero_Cool
something similar to if (tracking_state == CAMERA_ON_TARGET){...}
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Take a look at the Get_Tracking_State function in Kevin's tracking.c I believe it has what you are looking for.
btw, our experience has been that you don't want to use the camera data for chassis commands until you get a CAMERA_ON_TARGET, and once you have a lock, don't ignore your camera until the tracking state has transitioned all the way to SEARCHING. (a bit of hysteresis seems helpful)