[Greg McKaskle]

Note that the code will turn to gyro heading of zero unless it sees a target. Does the dashboard show a green circle around the target? If not, it may be rotating to the zero.

First determine if the vision code is working just by watching the dashboard. You can also reset the gyro to a safer heading. It is reset using two buttons on the back of the joystick -- I don't remember the numbers.

Greg McKaskle