You do not even need to modify the tracking code. If you check the value of whatever PWM the pan servo is on, after the tracking code has done it's magic, you will know which way to turn... Don't even look at the tracking code right now.
What PWM is PAN_SERVO set to?
I have code similar to this:
Code:
if (PAN_SERVO > 127) TURRET = 255;
else if (PAN_SERVO < 127) TURRET = 0;
else TURRET = 127;
That code is in Process_Data_From_Master_Up, and is working fine.