private void focus() {
		Body masterBody = null;
		
		for (Body body : this.controller.getRoomState().getBodyList()) {
			if (
				(masterBody == null || masterBody.getProbability() < body.getProbability())
				&& body.getProbability() >= this.bodyThreshold
			) {
				masterBody = body;
			}
		}
		
		if (masterBody != null) {
			Point2D bodyRad = cartesianToAbsRad(masterBody.getPos());

			if (
				(Math.abs(bodyRad.x - this.getCamPosRad().x) > this.moveThresholdX)
				|| (Math.abs(bodyRad.y - this.getCamPosRad().y) > this.moveThresholdY)
			) {
				Point2D newCamPos 	= new Point2D();
				newCamPos.x 		= bodyRad.x / (Math.toRadians(this.maxCamAngle) / this.maxCamPos);
				newCamPos.y 		= bodyRad.y / (Math.toRadians(this.maxCamAngle) / this.maxCamPos);
				
				this.controller.getSerial().send((int) newCamPos.x, (int) newCamPos.y);
			}
		}
	}