Aiming with Vision

[dubiousSwain]

Originally Posted by Greg McKaskle

Your input value ranges from -160 to 160, which means that your other tuning parameters will need to be pretty small to output a number between .5 and -.5.
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Finally, after doing this, I think you'll find that you cannot really close the loop using a camera. I'd suggest that you use the offset from the camera to compute an amount to turn the robot. Then use a gyro to close the loop. The measure with the camera and repeat if necessary.

Greg McKaskle

Thank you, this is great advice. I hadn't thought of graphing the output. We were discussing closing the loop with a gyro, now I think we will definitely do that. I'm not sure if it was included in the snippets, but I was trying to set the offset to zero when we lost the target but the robot kept spinning, must have been a bug.

Also when I set the I to 0, the loop doesn't output anything. Why is that?