Software

I was trying out some sample code in camera.h to make Bittle repond to colors. My routine looks like this:

int colorBehavior(int color) {

if (color == MU_COLOR_RED) {

PTLF("Step");

tQueue->addTask('k', "pee");

tQueue->addTask('k', "sit");

tQueue->addTask('i', "");

return 1;

} else if (color == MU_COLOR_BLUE) {

PTLF("");

tQueue->addTask('k', "pu");

tQueue->addTask('k', "sit");

tQueue->addTask('i', "");

return 1;

}

return 0;

}

I am invoking this routine when Bittle first detects either red or blue color with the following code in

void muCameraSetup() MuVisionType object[] = { VISION_BODY_DETECT, VISION_BALL_DETECT, VISION_COLOR_RECOGNITION};

String objectName[] = { "body", "ball", "color" };

int count = 0;

...

else if (objectIdx == 2) { // Implementing logic if color is detected

int color = (*Mu).GetValue(object[objectIdx], kLabel);

if (color != lastColorType) { lastColorType = color;

if (count < 1) {

count += colorBehavior(color);

}

To me, the code seems technically correct. However, Bittle starts making rapid servo motions once the code is uploaded. The servos dont stop until I remove the battery. Is there something fundamentally wrong with my code?

I also dont get what tQueue is (other than it being some queue where you can push commands that will be executed asynchronously).

Thanks for the help.