How does your auto-aim work?

[JamesBrown]

How does your auto aim work? Did you have the camera drive the pan and tilt motors on your turret until it was aimed right? Did you use encoders to line up the gun with the target? Did you mount the camera with tilt and pan servos to the turret? Or did you do something different?


Our camera searches with the pan and tilt servos. It is mounted to the gun once it as been tracking for a few loops (10 I believe). It pans and tilts the gun until the camera faces the same direction as the gun. This works very well for us, it allows us to shoot while moving in our low gear or to shoot while we get pushed.

So how (if at all) did you do it?