Diff: README.txt

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+= Issues: =
+
+* There are mainly two options to handle the camera.  Detached from the lamp or attached to the lamp head.
+    The algorithm for the two, are very different therefore we have to consider it as soon as possible.
+    The following evaluation is about the detached one if we go with it.
+
+= The follwoing devices we should handle: =
+
+* Sonar sensor.  We have to specify a working range where the detectable face can appear and should be followed.
+    This range approx. 70-250cm which have to be calibrated at the build time.
+    The working range data should be converted to between 0 and 1 value to easier manageable.
+
+* Camera.  From the camera we are getting a horizontal and a vertical value of the tracked face from openCV to mbed, 
+    which is the ratio value of the camera resolution between 0 and 1. 
+    But because this is the position of the middle of the square around the face, it never 0 or 1, but around 0.1 - 0.9.
+    
+* Pan servo.  The pan servo should simply follow the face provided by the horizontal position.
+
+* Tilt servo.  The tilt servo mainly similar with the pan, but it should be modified according to the neccessary
+    up-down movement.  See the description below.
+
+* Up-down servo.  The up-down servo should work together with the tilt one.  There are many solution could be develop.
+    The following one is one of them.
+    If the distance of the face is close to the minimum, then the vertical movement should be mostly followed 
+    by the up-down servo.  If the face goes below or above the minimum-maximum position of the up-down servo, 
+    then the out of range movement should be followed by the tilt servo.
+    As long as the face goes far, it should be more followed by the tilt servo and less with the up-down.