[lukevanoort]

Okay, I'll address this question by question:

1)Is there a function that returns camera PWM values?
Short Answer: No, you don't need one, the PWM value is just a variable you can access in your code.
Long Answer: If you look in tracking.h you'll find two #define statements with which you can change the PWMs for the pan/tilt servos. If you look at these you'll note they say something like "#define PAN_SERVO pwm07" if that was the case the PWM in use would be the seventh one. In other parts of the program, you can read the value of pwm07 (or whatever pwm the servo is set to) just like any other variable. EDIT: Whoops, I just realized that this advice only applies to the Streamlined version. If you are using Bells and Whistles, I think you can change it in the menu, but I am not certain. EDIT2: My previous edit was wrong, the Bells and Whistles code's PWMs are changed in the same as the Streamlined's. Now that I think about it, it makes sense to do it that way--having the PWM assignment menu configurable would be dangerous.


2)Is there a function that says if the camera is locked on?
Short Answer: Yes. Get_Tracking_State() in tracking.c.
Long Answer: When you call Get_Tracking_State, the function will return a 0 if it is searching; 1 if the target is in view, but the camera is not locked on; or 2 if the camera is locked on.

3)How do I adjust pan gain?
Long Answer: This depends on the version on Kevin's code that you are using. In the Bells and Whistles code, it should be changeable in the tracking menu (I don't know where, I don't use the Bells and Whistles version); in the Streamlined version, you should be able to change it in tracking.h. In tracking.h, there is a #define statement for "PAN_GAIN_DEFAULT." Changing the number "PAN_GAIN_DEFAULT" is being defined as (by default, 3) will change the pan gain. Note of caution: don't use decimals, they will be truncated in the camera code. EDIT: To change the pan gain in the Bells and Whistles version, type 't' at the terminal and you should see the option for it.