[Greg McKaskle]

You are welcome, but I meant for autonomous.

The underlying rotate to target VI expects to be called repeatedly at a relatively consistent interval when the robot needs to be rotated to aim at the target. If no target is currently visible, it uses zero for its setpoint. For each call, it reports back with the error between where it is being asked to aim and where it is currently aimed.

Each time the VI is called, it will update the motor PWM settings attempting to pivot the robot so that the target is in the center of the image. If the VI is being called in the loop and something pushes the robot, it will push back to try and get back to the angle. The VI calculates the values for the motors using a PID VI. The PID is tuned for a specific robot very similar to what was demoed at kickoff. The PID can be retuned for other types of robots. If you need assistance doing the tuning, there is a white paper on the NI site that covers this.

I don't understand the last question, so I hope this was more what you are looking for. If not, please ask specific questions.

Greg McKaskle