[d.courtney]

we had this problem too, it happened every time our robot was close enough to think it was two lights (because our said value for two lights weren't changed when we brought the light down for easier testing) I don't know why it did it, and am currently trying to figure it out for myself, but when I increased the maximum size for one light *magic* no shifting massively to one corner.

EDIT: my problem was because my fellow programmer made a change while I was gone the build before (and forgot to tell me). he found that the position of our camera on the robot would lose one light or the other (due to the nature of our attachment) when coming within scoring distance of a spider between two lights, his solution, focus on one light primarily as to avoid losing both (which happened one in every ten times) hence why in my case it happened for when the light size was greater then one... so in the end our identical problems were not so identical. He just told me now. on msn.
Hooray for communication, and a night spent in confusion.