I've posted updated "bells and whistles" camera software here:
http://kevin.org/frc. These are the changes:
tracking.c/.h:
Provided two new functions to set the pan and tilt servo position.
This was done to provide a level of indirection so that the servos
could be controlled from the robot controller or the CMUcam2.
Fixed bug in search initialization code where temp_pan_servo was
initialized to zero instead of Tracking_Config_Data.Pan_Min_PWM.
Altered tracking algorithm to use the t-packet confidence value to
determine whether the code should track or search.
Added Get_Tracking_State() function, which can be used to determine
if the camera is pointing at the target.
tracking_menu.c/.h:
Added the ability to set the confidence threshold via the tracking
menu.
terminal.c:
Added "no camera data" diagnostic information.
user_routines.c:
Added code to send tracking state information to the user LEDs on
the operator interface.
-Kevin