servos and the camera

[logicalhippo]

Our team is doing the tracking without the servos. So far the robot rotates in place to line up with the blob. We wrote our own camera code using the FIRST serial driver. Basically we scale the x-value (data byte 1 of the T packet) of the blob from 3-158 to 0-255, then feed it into the x-value of a one joystick algorithm. It works quite nicely.

unfortunately, you cannot just send the pan servo out to the rc. The algorithm the camera uses assumes that when it sends a value, it will be rotated to the corresponding heading. If you wanted to use these values, you could detect changes in the servo output and then rotate the robot the corresponding angle. Overall, it's more trouble than it is worth, because the x-value of the blob (sent in the serial stream) is usable in a one-joystick algorithm.