[JMac]

If I understand correctly, you want to use the code that doesn't specify for the camera or PID routine in the User_routine, and add the code or function calls that include either the camera or the PID, or both if you wanted to. I think this is so that you understand the code better... Also, keep in mind that they just pulled the camera code off the innovation first site, so it's probably got bugs. I think if you try to understand what each piece of the code and the functions do, and put it in the regular default user code, you'll be more successful at making it work.