[Greg McKaskle]

If you camera will be mounted on the servo gimbal, then you probably want to start with the sample code for two color tracking. Try the sample exactly as it is at first, just setup your IP address, hook up the PWMs, and see if it works.

Once that works, look at the diagram of the Robot Main, see where it Gets the image and does nothing with it? Then in the example where it gets the image and calls the Find Two Color and then the State Based Servo Tracking?

Go ahead and copy the stuff from the example into the vision loop. If you use the servos, copy that loop too and place it nearby somewhere.

If you are using servos, the servo X value tells you when the robot may need to turn to face the target.

If you are not using the servos and want to control a motor, the camera is telling you how far to turn. You need to figure out how to do that with a motor, and probably a pot.

Greg McKskle