Camera Troubles

[cmurdoch]

Here's my updated camera search code. So, if anyone has any insights I'd appreciate it.

                                        //turn the turret to the right for a specified
					//number of loops if direction is equal to 1
	                                if (direction == 1)
					{
						pwm12 = 255;
						loop_number++;
						//when it reaches the end of the time, 
						//change tilt value, change direction 
						//and reset loop counter
						if (loop_number > 50)
						{
							if(temp_tilt_servo >= (int)Tracking_Config_Data.Tilt_Max_PWM)
							{
								temp_tilt_servo = (int)Tracking_Config_Data.Tilt_Min_PWM;
							}
							else
							{
								// step the tilt servo to its next destination
								temp_tilt_servo += (int)Tracking_Config_Data.Tilt_Search_Step_Size;
			
								// make sure its new position isn't beyond
								// the maximum value set in tracking.h
								if(temp_tilt_servo >= (int)Tracking_Config_Data.Tilt_Max_PWM)
								{
									temp_tilt_servo = (int)Tracking_Config_Data.Tilt_Max_PWM;
								}	
							}
							direction = 0;
							loop_number = 0;
						}
					}
					//turn the turret to the left for a specified 
					//number of loops if direction is equal to 0
					else if (direction == 0)
					{
						pwm12 = 0;
						loop_number++;
						//when it reaches the end of the time, 
						//change tilt value, change direction 
						//and reset loop counter
						if (loop_number > 50)
						{
							if(temp_tilt_servo >= (int)Tracking_Config_Data.Tilt_Max_PWM)
							{
								temp_tilt_servo = (int)Tracking_Config_Data.Tilt_Min_PWM;
							}
							else
							{
								// step the tilt servo to its next destination
								temp_tilt_servo += (int)Tracking_Config_Data.Tilt_Search_Step_Size;
			
								// make sure its new position isn't beyond
								// the maximum value set in tracking.h
								if(temp_tilt_servo >= (int)Tracking_Config_Data.Tilt_Max_PWM)
								{
									temp_tilt_servo = (int)Tracking_Config_Data.Tilt_Max_PWM;
								}	
							}
							direction = 1;
							loop_number = 0;
						}
					}
					//if direction isn't left or right
					//there is a code error and the
					//motor is set to neutral
				//	else
				//		pwm12 = 127;
				}

				// update the pan and tilt servo PWM value
				//PAN_SERVO = (unsigned char)temp_pan_servo;
				TILT_SERVO = (unsigned char)temp_tilt_servo;
			}
		}
	}
}