The camera as in the building guide tells you how to stick it on is turned upside down, because of this, the default code has the values turned upside down when it comes to pan/tilt. In tracking.h find the 1/-1 values, and switch them. That what used to be 1 should be -1, and -1 should be 1. Then you are good to go
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We switched the camara from being upside down to being back upright, and we got an upright image in LabView, this threw the code off though, as it thought it had to move to the left, and not to the right.