[Keith Watson]

We tested our camera mount right side up on the bench then mounted it on the robot upside down. The search routine will work as is. You may want to adjust your min and max tilt values to keep the search pattern more towards the angle of the target.

If you are using the camera servo values to calculate angles, mount the camera upside down, drive to servos to known values, and physically measure the angles. Then derive an equation to convert camera servo pwm values to angles.