[Alan Anderson]

Make sure the pwm output code in Default_Routine() isn't conflicting with the camera servo control. As provided, the camera code wants the pan and tilt servos on pwm01 and pwm02. Also as provided, the default pwm code copies joystick inputs to those same pwm outputs. You'll have to either strip the pwm01/pwm02 control from Default_Routine() or move the camera servos to other outputs (details are in tracking.h).

Note: avoid using pwms 13-16. Hardware interrupts, including the interrupt-based serial communication, will interfere with the "fast update" pwm routine for those outputs and cause unwanted jitter in the servo or speed control signals.