exposure periods

[Tom Line]

Originally Posted by wireties

we do exactly that and we normally are not moving the robot - the problem is that the first capture occurs, we tell the turret to move and (we think) the turret might be moving when the next capture occurs - we can always force the sequence I guess

thanks

Ah, I see. We get around that by turning off vision altogether once we have a verified target locked in. We save the values into another global variable, then zero out the target array and turn off vision entirely.

In fact, the only time vision turns on is when the shoot button is pushed, and then only for 3 frames (the number of frames we've decided we want to check to insure we see the target in the right location).