First you need to find how far the camera is off from target using the same method you would when using the camera servos.
Relevent code:
Code:
pan_error = (int)T_Packet_Data.mx - PAN_TARGET_PIXEL_DEFAULT;
if the pan_error is less than zero you have to drive the robot\turret one way and if it is greater than zero, you have to drive the robot\turret the other way.