Initial PRU position

Initialize PRU set position to midpoint.

Signed-off-by: Paul Brook <paul@nowt.org>
Fix range reporting

Fix offsets on range bytes.  Also report current mode.

Signed-off-by: Paul Brook <paul@nowt.org>
PRU control

Connect image analysis output to PRU controller.

Signed-off-by: Paul Brook <paul@nowt.org>
Kick motor control

Implement control of rotation motors.

Signed-off-by: Paul Brook <paul@nowt.org>
Multiple people on stick

Improve control algotithm to handle multiple people on a stick.

Signed-off-by: Paul Brook <paul@nowt.org>
Fix crash

Avoid crash when no intercept is found

Signed-off-by: Paul Brook <paul@nowt.org>
PRU reset race

Clear PRU mode word before starting execution.

Signed-off-by: Paul Brook <paul@nowt.org>