Using kevin's code for driving and camera tracking

[razzoc]

We am using Kevin's 2.1 Camera Code: Bells and Whistles version and could use some help with getting the driving and the camera tracking to work. We are using MPLab rather than easyC since most of us are used to MPLab.

So, looking around the forum, I found that I have to uncomment Default_Routine() to get the driving to work. I realize that this raises other problems like pwm outputs interfering. I have the all the configuration settings to fine-tune the camera tracking, and it works in the CMUCam2 GUI. I was also able to get the driving to work individually with the code provided by IFI. Now the problem is to get them to work together.

I'd like to know what else I would have to modify to make the code work smoothly. I have read alot of threads by people who have problems getting the camera tracking to work, but I still couldn't find a clear answer. Btw, I am using the default pwm outputs (Camera: 01, 02) (Drive motors: 13, 15). From what I've read, pwm ports 01 and 02 interfere with default_routines() being uncommented so what exactly do I need to edit?

This is our first year in the FRC competition so any help would be appreciated.