[Alan Anderson]

The camera tracks colors much better in YCrCb color mode. That's what the provided LabView calibration uses, and that's what Kevin's camera code uses. Fluorescent lights are sufficiently more blue than the goal target, and gymnasium-style vapor lights are more red, so the camera can discriminate well between them.

(Sunlight still tricks ours on occasion, with the camera locking on to a window off to the left side of our test bench. I found a way to fix that, but only at the expense of not being able to find the green target more than about 30 feet away.)