A Primitive Upgrade to Robocam

Alright.

So I have made progress in fixing the tracking system. I didn't really get a chance to test it today, and the new code is not playing nice with the controls, so I'll work on it. 

Also, beware - there are very few comments in this code. I tried to get as many in as I could. Throughout the week and weekend I'll be working on finishing this up so that we can test it.