[rsisk]

Our team was working on autonomous mode yesterday and we are trying to make the robot track the trailer. We can detect left/right and fwd/rev movement of the image and we can turn the robot left/right and move it fwd/rev to track the image. Sounds like we are done, right?

Well, here is where we are having trouble "conceptualizing" how you move both l/r and f/r at the same time. BTW, we are testing with two motors driving two rear wheels.

For example, let's say we have acquired the target image. Then it moves away and to the right. We will detect both the l/r movement and the f/r movement. Currently we track l/r until we center the target into the deadband, then we track f/r until we center the target into the deadband. Once both axis are in the deadband, we have the target where we want it.

The question, is there a way to combine both the l/r tracking and the f/r tracking to accomplish both at the same time?