As was mentioned during the kick-off, we have new-and-improved, country fresh CMUcam2 code this year. There are two versions available: The "bells and whistles" version contains interactive menu code that allows you to change, on-the-fly, the camera calibration and tracking parameters and save the configuration to EEPROM. And we also have the "streamlined" no nonsense version for the minimalist crowd. Both versions can be found here:
http://kevin.org/frc. If you have questions or spot a bug in the code or documentation, please post it in this forum.
-Kevin