Chief Delphi - Camera programming progress

We're using Java and it's working for us.
We ripped the Target class of the example code, but here's our Camera class:
Code:
package pronto;



import edu.wpi.first.wpilibj.*;

import edu.wpi.first.wpilibj.camera.*;

import edu.wpi.first.wpilibj.image.*;





/**

 * General parameters for the camera.

 * @author Team Pronto Programmers: Patrick Chiang, Nicholas Escalona, Cody Ryu

 */

public class Camera {

    static final int SENSITIVITY_CAMERA_H = 10;

    static final int SENSITIVITY_CAMERA_V = 3;



    int targetPosition;

    double kScoreThreshold = 0.01;

    

    Timer timer;

    Servo cameraHServo,cameraVServo;

    AxisCamera cam;

    /**

     * Class designated for initializing necessary components for the physical movement of the camera

     * @param horizontalServo Servo designated for turning the camera horizontally

     * @param verticalServo Servo designated for turning the camera vertically

     * @param camera Camera designated for seeing things

     */

    public Camera(Servo horizontalServo, Servo verticalServo, AxisCamera camera){

        super();

        cameraHServo = horizontalServo;

        cameraVServo = verticalServo;

        timer = new Timer();

        cam = camera;

    }

    /**

     * Class used to specify a joystick to control the camera

     * @param cameraStick Joystick designated to control the camera

     */

    public void manual(Joystick cameraStick){

        if(cameraStick.getRawButton(1)){

            track();

            aim();

        }

        if(cameraStick.getRawButton(10)){

            cameraHServo.set(0.5);

            cameraVServo.set(0.5);

        } else{

            move(cameraStick);

        }

    }



    /**

     * Class for allowing constantly centering the ball in the camera's field of vision.

     * @param maxAngle Maximum allowed 

     * @param targetNum

     */

    public int track(){

        // System.out.println("Target Angle: " + cameraHServo.getRaw()); //TODO uncomment

        // based on code from CircleTrackerDemo



        try {

            if (cam.freshImage()) {

                ColorImage image = cam.getImage();

                Thread.yield();

                Target[] targets = Target.findCircularTargets(image);

                Thread.yield();

                image.free();

                if (targets.length == 0 || targets[0].m_score < kScoreThreshold) {

                    // targetNotFoundCount++; // DEBUG

                    // System.out.println("No target found" + targetNotFoundCount + "times"); // DEBUG

                    Target[] newTargets = new Target[targets.length + 1];

                    newTargets[0] = new Target();

                    newTargets[0].m_majorRadius = 0;

                    newTargets[0].m_minorRadius = 0;

                    newTargets[0].m_score = 0;

                    for (int i = 0; i < targets.length; i++) {

                        newTargets[i + 1] = targets[i];

                    }

                } else {

                    // System.out.println(targets[0]); //TODO uncomment

                    // System.out.println("Target Angle: " + targets[targetNum].getHorizontalAngle()); //TODO uncomment

                    // targetFoundCount++; // DEBUG

                    // System.out.println("Num targets found" + targetFoundCount); // DEBUG

                    if(Math.abs(targets[0].getHorizontalAngle())<500){

                        targetPosition = (int)targets[0].getHorizontalAngle();

                        // System.out.println(targets[0].toString());

                    }

                }                

            }

        } catch (NIVisionException e) {

            e.printStackTrace();

        } catch (AxisCameraException e) {

            e.printStackTrace();

        }

        return targetPosition;

    }



    public void aim(){

       if(Utils.isBetween(targetPosition,3,252)){

            cameraHServo.setRaw(cameraHServo.getRaw() + targetPosition);

        } else if((cameraHServo.getRaw() + targetPosition)<3){

            cameraHServo.setRaw(cameraHServo.getRaw() + 3);

        } else if((cameraHServo.getRaw() + targetPosition)>252){

            cameraHServo.setRaw(252);

        }

    }

    /**

     * Allows for manual operation of the camera's movement

     * @param shooterStick Control stick for the camera. Controlled by Buttons 2-4

     */

    public void move(Joystick shooterStick){

        

        // camera control

        if (shooterStick.getRawButton(4)) { // left

            cameraHServo.setRaw(cameraHServo.getRaw() - SENSITIVITY_CAMERA_H);

        }

        if (shooterStick.getRawButton(5)) { // right

            cameraHServo.setRaw(cameraHServo.getRaw() + SENSITIVITY_CAMERA_H);

        }

        if (shooterStick.getRawButton(2)) { // down

            cameraVServo.setRaw(cameraVServo.getRaw() - SENSITIVITY_CAMERA_V);

        }

        if (shooterStick.getRawButton(3)) { // up

            cameraVServo.setRaw(cameraVServo.getRaw() + SENSITIVITY_CAMERA_V);

        }

    }

}
Use track() and aim() together to make the robot's Servo "look" at the target. It works for side to side (horizontal) tracking, but no vertical yet.