[mikets]

I did not look at your code very carefully but one thing jumped out:

 void CamAnOut (void)
	{
		    Threshold threshold(RH, RL, GH, GL, BH, BL);

I believe you have reversed the High and Low numbers. It should be:

 void CamAnOut (void)
	{
		        Threshold threshold(RL, RH, GL, GH, BL, BH);