[JHale]

I have followed all of the troubleshooting tips and instructions given by Kevin and IFI. I can confirm all of the initialization on the camera easily, and it does initialize, however tracking is where the majority of the problem is.

At the moment I have some custom code working the camera quite nicely. It can track the red ball (the only one we have) pretty well. The code only works to ensure that the camera is in tracking mode (not just idiling). Tomarrow I hope to add functionality for searching, register changes on the fly, and manual control.

I will post the code sometime next week. The main difference is turning over servo control to the camera, instead of the controller. In collecting output, I had noticed that the camera would tell the controller that it had sufficient confidence to start tracking, however, if the next packet denies this (perhaps the ball has moved and the confidence is slightly decreased) the code restarts.

Thanks all for the suggestions, but I have struggled with this camera for 2 years, and in 2 days I was able to get it working. Hasta!