We have the WPI two color tracking demo working but it is very slow to move the camera once it has seen the target image. It pans back and forth ok. Panning is a bit jerky and not a smooth as I would expect. Once it sees the target it stops. After stopping, the camera moves very slowly toward the target taking about 1/2 second per step and often about 3-4 step to get lined up with the target.
I tried changing the image size from 320x240 to 160x120 and that helped some. I also tried changing the images per second but that didn’t seem to make a difference. I adjusted the scaling factor in AdjustServo and that changed the behavior but mosly caused the camera to overshoot. I also adjust the wait time in the main autonomous loop and that didn’t do anything either.
Sometimes the camera will settle on the target but be 10 to 20 degrees to the left or right.
Has anyone else seen this behavior?