File content as of revision 2:0b362c662997:

#include "mbed.h"
#include "iRobot.h"
#include "Servo.h"
#include "Rectangle.h"

// Macros/Constants
#define MAX_VIEW_X 1176 // maximum X value input from camera
#define MAX_VIEW_Y 711 // maximum Y value input from camera
#define CENTER_BOX_TOLLERANCE 200 // Size of our box
#define TO_SERVO_DIVISOR 1176.0 // Value to divide by to get the amount to move the servo by

// Hardware sensors and devices
DigitalOut myled(LED1);
DigitalOut myled2(LED2);
iRobot followMeBot(p9, p10);
Servo servoHor(p22);
Servo servoVer(p21);
AnalogIn irSensorFront(p20);
AnalogIn irSensorLeft(p19);
AnalogIn irSensorRight(p18);
Serial pc(USBTX, USBRX); // tx, rx

// Software variables
char serial_rx_buffer[128]; // Input buffer for data from the PC
int xpos, ypos; // x and y positions read from matlab
Rectangle centerBox((MAX_VIEW_X/2)+CENTER_BOX_TOLLERANCE, (MAX_VIEW_Y/2)+CENTER_BOX_TOLLERANCE,
                    (MAX_VIEW_X/2)-CENTER_BOX_TOLLERANCE,(MAX_VIEW_Y/2)-CENTER_BOX_TOLLERANCE); // Creates a box to examine if the camera is well enough centered

// Function Prototypes
void getXYpos();
void moveCamera();

int main()
{
    //followMeBot.start();

    while(1) {
        getXYpos();
        wait(.5);
    }
}

void moveCamera()
{
    if(xpos == 0) {
        servoHor = .5;
    } else if(!centerBox.is_touch(xpos, ypos)) {
        float temp;
        //printf("Servo at: %f\n", servoHor.read());
        temp = servoHor.read() - (centerBox.getCenterX() - xpos)/TO_SERVO_DIVISOR;
        //printf("move servo by: %f\n", (centerBox.getCenterX() - xpos)/TO_SERVO_DIVISOR);
        if(temp > 0 && temp <= 1) {
            servoHor = temp;
          sprintf(serial_rx_buffer, "%f\n", temp);
        }
        /*temp = servoVer.read() + ((float)centerBox.getCenterY() - (float)ypos)/TO_SERVO_DIVISOR;
        if(temp > 0 && temp <= 1) {
            servoVer = temp;
        }*/
    }
    pc.puts(serial_rx_buffer);
}

void getXYpos()
{
    //char * temp;
    //const char del = ';';

    if(pc.readable()) {
        myled = 1;
        pc.gets(serial_rx_buffer, 128);
        xpos = atoi(serial_rx_buffer);
        //sprintf(serial_rx_buffer, "%d\n", xpos);
        //pc.puts(serial_rx_buffer);
        //temp = strtok(serial_rx_buffer, &del);
        moveCamera();
    } else {
        myled = 0;
    }
    if(xpos > 500) {
        myled2 = 1;
    } else {
        myled2 = 0;
    }
}