[Greg Marra]

Yea, the way Kevin's code behaves is it centers the camera dead onto the vision target. Therefore, the .mx should always be about dead-center (or half of 119). The PAN_SERVO gets adjusted to get the .mx to center. That's why you originally had it backwards.

If you find it's still slightly off center (maybe your camera is mounted crooked), you can tweak the #DEFINEs that set the default center for things in camera.h and tracking.h