[lemoneasy]

Do you also mean without a tilt servo? I think its simpler with servos, have the camera parallel to the side of your bot, and just turn until the pan angle on your camera is 0, or within 1 to -1 degrees. Otherwise, the pan error method would work. As for tilt you would have to decide how close you want your bot, if you have your camera tilted at 19-20 degrees, your bot will be centered at around 25 feet from the net. Just put the bot however close you want it to the net, point the camera's tilt at the light, fasten it tight. Then just use the pan error method with the tilt_error instead.