Connecting our cam motors

[Max Brin]

How can we connect our cam servo motors via the cam's board without wiring all the cables to the rc?

Thanks!

[Jared Russell]

yes.

[Unholy]

Originally Posted by Max Brin

How can we connect our cam servo motors via the cam's board without wiring all the cables to the rc?

Thanks!

What you can do is run your servos to the cam main control, and the main control should go connected into the TTL port of your controller. GThis means that you will have to rewrite your code, but it saves you some trouble.
-Unholy

[Max Brin]

Yes, but how can we do this?
What are the procedures and how will it infect our code?

10x!

[kaszeta]

Originally Posted by Max Brin

Yes, but how can we do this?
What are the procedures and how will it infect our code?

This isn't a simple procedure. What you need to do is:

1. Instead of using tracking.h/c (the tracking code that Kevin provides for running the pan/tilt servos), you need to have the CMUcam2 provide it's own tracking (see the camera documentation on kevin.org/frc).
2. Enable internal powering of servos on the CMUcam2.
3. Enable pan/tilt control of the servos on the CMUcam2.
4. Enable pan/tilt reporting of the servo values on the CMUcam2.
5. Modify the camera.c/h code in Kevin's code to recognize that the camera tracking packets will now include two additional values (the pan and tilt servo values).

This isn't all that hard if you understand how the existing camera code works. I don't recommend it, however, since you have a lot more control over the tracking code if you use Kevin's tracking.c/h.