[JoshJ]

That demo sounds sweet, hope that went well for you. I have seen our robot a total of 2 times, so its a bit tough for me to experiment with the code, so I appreciate your help. I still dont understand exactly what is going on with the camera, but I think I know enough now to scrape an auto mode together. I had tested something similiar to your code, but the bot may have been tracking the wrong direction or something, it was acting weird. I dont like the way the default camera code sets turning/forward speed so I think I am just going to make my own code. Again, thanks, and good luck
Josh