Camera track and drive integration code

[Inverted]

After 3 years of frustration, broken cameras, and bad programming, I finally got the camera to track the light. (Kevin Watson, you are a god!) Now that a third of our autonomous code is done, all we have left to do is get the bot to move towards the light once the camera has locked on, and then have it operate our arm mechanism. I pretty much know how to write the code to operate the arm, but I have no idea how to go about getting the bot to track to the color.

From what I've been reading, I'm under the impression that Kevin's code has a function that does this, but I haven't been able to find it. Then again, I could be completely wrong about this. If I'm correct, which function would it be? And if I'm not, could someone point me towards where I could find the code that does this or a resource that will teach me how to (preferably the former). Any help is much appreciated.