The non-zero my's probably come from stray pixels that the camera finds (like if the room is lit w/ flourescent lights and there is green or yellow paper on the walls), this doesn't make much of a difference most of the time, but it's annoying that it resets the search pattern, which results in the camera getting stuck going in circles and never finding the target (in our debugging we have gotten around this by covering its field of view until it was facing the target, we should probably make it not reset the search pattern ourselves, but hasn't annoyed us enough to do so yet)
EDIT:
i would also try changing
Code:
if(new_search == 1)
in tracking.c to:
(or if you aren't as lazy as I am just get rid of the whole if block and remove the else)
EDIT 2:
it's also be possible to not set new_search to 1 until after ~.5 seconds of seeing the target, since it will usually lose the stray pixels by then, but I don't see the benefit of reseting the search pattern.