Two Color Tracking Demo

[laultima]

Heres the code we're using for target tracking, using the color values from the TwoColorTrackDemo. All variables are doubles declared before the While loop, and pan and tilt are servos.

if (FindColor(IMAQ_HSL, &redData.hue, &redData.saturation,
					&redData.luminance, &aRed) && FindColor(IMAQ_HSL,
					&greenData.hue, &greenData.saturation,
					&greenData.luminance, &aGreen)) {
				redX = aRed.center_mass_x_normalized;
				redY = aRed.center_mass_y_normalized;
				greenX = aGreen.center_mass_x_normalized;
				greenY = aGreen.center_mass_y_normalized;
				centerX = (redX + greenX)/2;
				centerY = (redY + greenY)/2;
				panMove = (tan((PI/4)*centerX))/8;
				tiltMove= (tan((PI/4)*centerY))/8;
				pan->Set(pan->Get()+panMove);
				tilt->Set(tilt->Get()-tiltMove);
			}