CMU Integration Overview????

[Mumford 406]

While I have seen a lot of information on the CAM and getting it working, I am wondering about the big picture. How are teams stopping the rob after getting close to the color object to grab?

I have not seen any documentation regarding a complete overview of integration of the camera system with other switches, i.e. limit switches.

Any recommendations/ideas appreciated!

[russell]

There are two main options when it comes to determining distance to a target. The first is target size. You can check the number of pixels being tracked by checking cam.size. The other way is to check the downward angle of the camera. This is the easier way and probably less prone to problems as the size of the target will change depending on how it is oriented and such.