Our goal was to create a tracking camera that tracks coloured objects. To do this, we stream video from a camera, compare each pixel with a threshold value set to the colour of the object we wish to track, and once a frame has ended, calculate the centroid of the cluster of pixels that passed the threshold. With this centroid, we can calculate how much the camera must reorient itself to have the object in the center of the frame. From here we send these values to our PWM (Pulse Width Modulator), which generates the appropriate signals to orient the camera where the object will be centered in the frame. The camera can rotate horizontally and vertically.