[PhilBot]

FYI.

It's possible to build the Camera Gimbal slightly back the front.

Looking at the gimbal from the front of the robot, the servo needs to be on the left hand side. It will go together just fine with the servo on the right, but the net effect is that up and down will be reversed on the Y servo.

It's easy to spot this (as in my case) because when the camera sees the target, it sweeps up or down away from it.

I tried fixing it in software but I couldn't quite get it working, so I opted for fixing the camera.... It just meant detaching the servo horn from the tilt servo, and flipping the camera plate by 180 degrees. (Of course you have to invert the camera and rotate the base by 180 on the robot as well).

It's a great example VI (for LabVIEW), able to be almost dropped right into either of the robot templates.