[Ianuser]

Please help me, I can't figure out how to use the camera to actually MOVE the robot. I have the camera code working along with the camera itself, but how do I move pwm01 (left drive wheel) and pwm02 (right drive wheel) individually according to the pan of the camera? I have no idea where to begin with this code. (I just got the code to work for the camera and I've been trying for weeks. Now I only have 2 days, Please help if you can)

		
int I_Want_To_Search = 1;
int pwm01_On_Off = 1;
int pwm02_On_Off = 1;
int pwm03_On_Off = 1; //these are all at the top of user_routines.c Everything else is in Processfrom master UP (except TARGETRANGE[] and FIND_DISTANCE())



                          if(I_Want_To_Search == 1)
	{
		Servo_Track();
	}


                          if((Get_Tracking_State() == CAMERA_ON_TARGET) || (Get_Tracking_State() == TARGET_IN_VIEW))
		{
			pwm01_On_Off = 0;
			pwm02_On_Off = 0;
			pwm01 = 230; //Desired Forward Velocity
			pwm02 = 230;
			Switch3_LED = 1;
			
			//printf("2"); //these statements are just to see if it worked
		}
		else
		{
			Switch3_LED = 0;
			pwm01_On_Off = 1;
			pwm02_On_Off = 1;
			//printf("4"); //these statements are just to see if it worked
		}
		/*
		if(Find_Distance() <= 50) //THIS DOESN"T WORK!! WHY NOT?
		{
			pwm01 = 127;
			pwm02 = 127;
			pwm01_On_Off = 1;
			pwm02_On_Off = 1;
			I_Want_To_Search = 0; //Stops calling Servo_Track(). THEN CALL ANOTHER THING
			Switch3_LED = 0;
			//printf("3"); //these statements are just to see if it worked
		}
		*/

		if(p1_y > 129 || p2_y > 129)
		{
			pwm01_On_Off = 1;
			pwm02_On_Off = 1;
		}
		else if(p1_y < 125 || p2_y < 125)
		{
			pwm01_On_Off = 1;
			pwm02_On_Off = 1;
		}

The Find_Distance() function is this:

unsigned int Find_Distance(void)
{	
	return(targetRange[pwm07-144]);
}

and target range is this:

const rom unsigned int targetRange[] =
	{
3355,
1676,
1116,
835,
666,
553,
472,
411,
363,
325, //place 10
293,
267,
244,
225, 
208,
193,
179,
167,
156,
146, //place 20
137,
128,
121, 
113, 
107,
100,
94,
89,
83,
78, //place 30
73,
68, 
64,
60,
56,
51,
48,
44,
40,
36, //place 40
33, 
29, 
26,
23,
19,
16,
13,
10,
6,
3, //place 50
0, //place 51
};

So I would like to know why my distance thing isn't working (Max tilt is 194 and min is 94, center at 144. My degree per pwm step was 1.7647 (50/90? is that right?) Then I multiplied that by the pwm index up to 51 and found the radian value and plugged it into TAN(x) and then did 116-12.625(my height)/tan(the radian value from before)) Assuming that's correct, what's wrong with the rest of the code? It's not working properly. Camera looks away from the light when I comment in the Find_Distance code (less than 50 or whatever). ALSO, how do I program the robot to move forward???