[jtdowney]

I have not read through Kevin's code completely but I have yet to see code that will align the robot for you. Given the wide range and style of drivetrains I wouldn't think that would be practical.

Kevin's code does however give you convient access to the pan and tilt angles and using what you know about trigonometry you should be able to work out a way to figure out what you need the robot to do. Another thing to consider is when you have a large blob size then you know you are either tracking two green lights or have a green light very close to the camera (unlikely in a competition). Using that data you should be able to work out how far you need to go forward before you can play your peice.