[Sean Raia]

Yes, i worked on this my freshman year (Lunacy). And as long as you set your camera up to recognize those vision targets, getting it to stay on it is not a giant task.

Its late and i dont feel like explaining just how you would do this but its pretty much a loop that rotates the turret until it finds the target, if the target is in view it will center the turret to aim directly at it using smaller rotation increments. You could use your sonar to factor the distance into these segments, but thats your job to figure out :-)