[Tom Line]

If you are using Kevin's code - you can also lower the required confidence requirement or you can increase the delay after each camera search increment.

You can also use his newest code for the 0-90 degree mapping of the full 255 pwm range for increased accuracy - though we didn't use it at the Detroit regional.

On thing I hope many teams considered is that using degrees is very inefficient. Use the straight PWM values so you don't have to do any floating point or lose any accuracy through integer math. You can go further than that too if you limit where you want to lock your camera so you only use about a 45 degree range - tracking with the camara isn't necessary if you've got a gyro and geartooth encoders, you simply need your initial angle and distance.