Well, after digging a bit, it was easier than I thought it would be:

https://git.bug-br.org.br/bga/robomasters1/src/master/app/gimbal/gimbal.go

Currently it supports reseting the gimbal to the original position and moving it to any absolute angle.

As mentioned in the subject, it is completelly untested. When I get home I will put the pieces together and see if this works. If it works, this should be enough to try experimenting with external object recognition and tracking!

Note that the default mode for the S1 is chassis follow gimbal, so if it works as I think it works, then this will also be enough to control chassis rotation (as it follows the gimbal).

Hello and good day BGA. Thank you for sharing these information with us and thank you for your valued support. Happy New Year to you and to your family.

COOL!
Looking forward to see the integrated code and a test/demo video...

And it works! I had to added some more things for it to work but the general idea was sound. Will update the repository soon (I have to refactor some things) and will post a video most likely tomorrow.

Also the default mode is chassis lead, not gimbal lead. So I can only move the gimbal up and down. Now to figure out how to change the mode.