Optimal Tracking settings

[bush]

The default settings were giving me a little bit of trouble. I raised the allowable_error and gain_values, and it seemed to significantly help the problem. Would anybody care to comment on what settings you are using, if you have tested it on the moving robot, or just "on the bench", and how well those settings are working for you?

[scitobor 617]

Originally Posted by bush

The default settings were giving me a little bit of trouble. I raised the allowable_error and gain_values, and it seemed to significantly help the problem. Would anybody care to comment on what settings you are using, if you have tested it on the moving robot, or just "on the bench", and how well those settings are working for you?

I have lowered the search delay to 2 and rewritten the search code to use a different search pattern. I have also tweaked the min and max pwm tilt and pan values. I also changed the default step size so that the camera only tilts up twice. In addition I reduced the allowable error to 2. After these changes it locks on to the target in less than a second and never looses the target even while moving, so long as the light is still within its range of motion. Since my error settings are low the camera does twitch when stationary but I believe it will not be a major problem. What type of problems are you having with the default settings?

[bush]

significant oscillations in the y-axis with a still camera and target
>Edit: Increasing gain values helped somewhat