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Re: Color tracking not working.
If your camera is mounted with the power and network connectors at the top, it's upside down from the way the software expects. It will tend to "run away from" the target instead of tracking it.
If this is the case, you can connect the camera directly to your computer and log on to it (user FRC, password FRC) to configure it to rotate the image 180 degrees.
It's also possible to build the pan/tilt assembly as a mirror image of the intended design, in which case the tilt servo is going to drive the camera up when the software thinks it's going down. Looking into the camera lens, the tilt servo ought to be to the camera's left.
If neither of these is your issue, i'm not sure what else to suggest.
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