Camera Code Update

[Kevin Watson]

I've made a few changes to the camera code and would like to get some feedback before releasing it. If you can think of something you'd like changed or added, please leave a message here. These are the changes do far:

2/11/07 changes made for version 2.2:

Important: after loading the new software, make sure
you "Load default values" and then "Save changes" from
the tracking menu.

terminal.c/.h:
-Fixed benign bug where old_camera_t_packets was not getting updated in Tracking_Info_Terminal().

-Altered code to use Tracking_Config_Data values for center tilt and pan values instead of hardwired values in Tracking_Info_Terminal().

-Altered code to use Get_Camera_T_Packets() function instead of directly accessing camera_t_packets variable.

camera.c/.h:
-Added Poll_Mode() function.

-Added Get_Camera_ACKs() function.

-Added Get_Camera_NCKs() function.

-Added Get_Camera_T_Packets() function.

tracking.c/.h:
-Altered code to use Get_Camera_T_Packets() function instead of directly accessing camera_t_packets variable.

-Changed default CONFIDENCE_THRESHOLD_DEFAULT values to 10 (was 20).

-Greatly simplified search code (same functionality with less code).

-Changed search parameters so that a fixed tilt angle of about 30 degrees is used.

-For finer control, moved camera pan servo to PWM output 15.

-For finer control, Moved camera tilt servo to PWM output 16.

user_routines_fast.c:
-Replaced call to Generate_Pwms() in User_Autonomous_Code() with a call to PWM().

serial_ports_readme.txt:
-Corrected installation instruction #4.

camera_readme.txt:
-Added Virtual_Window() function description.

-Added Poll_Mode() function description.

-Added Get_Camera_ACKs() function description.

-Added Get_Camera_NCKs() function description.

-Added Get_Camera_T_Packets() function description.

pwm.h:
-Using new PWM() software, optimized camera tilt for a range of 0 to 90 degrees.


-Kevin