[Keith Watson]

The camera zero accuracy is 0.8 degrees per pwm step. But of course is subject to the deadzone when the target center is near the camera center. But the target center (in pixels) does not use that deadzone. Camera pixels (vertical) have an accuracy of 0.14 degrees per pixel. So if you want accuracy use camera pwm to get bot to camera center angle, then target centeroid pixels to get camera center to target center.