That's good news!
I cleaned up the sketch a little bit, especially the naming of constants and variables so that they should fit now better to their meaning... 
Please check the constant values and change them to your data!
I have moved the delay(250) inside the if clause because it only makes sense when the target ID was detected. To speed up the sketch the delay could be made dependend on whether a servo moves or not ... if required ... 
Good luck and have fun!
/*
**********************************************
2024/01/15
Compiled but not tested ...
ec2021
***********************************************
*/
#include <HUSKYLENS.h>
#include <Wire.h>
#include <Servo.h>
const int minPixelHor = 10;
const int lowPixelHor = 130;
const int highPixelHor = 190;
const int startAngleHor = 90;
const int maxServoHor = 120;
const float deltaHor = 1.5;
const byte servoPinHor = 9;
const int minPixelVert = 10;
const int lowPixelVert = 40;
const int highPixelVert = 190;
const int startAngleVert = 90;
const int maxServoVert = 120;
const float deltaVert = 1.0;
const byte servoPinVert = 10;
const int trackID = 2;
struct servoType {
Servo servo;
int angle;
float fAngle;
float delta;
int maxServoAngle;
void init(byte aPin, int startAngle, int aDelta, int MaxServoAngle) {
servo.attach(aPin);
angle = startAngle;
fAngle = startAngle;
delta = aDelta;
maxServoAngle = MaxServoAngle;
servo.write(angle);
}
void movePlus() {
move(1);
}
void moveMinus() {
move(-1);
}
void move(int dir) {
fAngle += dir * delta;
angle = constrain(fAngle, 0, maxServoAngle);
servo.write(angle);
if (fAngle < 0.0) { fAngle = 0.0; }
if (fAngle > maxServoAngle) { fAngle = maxServoAngle; }
}
};
HUSKYLENS huskylens;
servoType horizontal;
servoType vertical;
void setup() {
horizontal.init(servoPinHor, startAngleHor, deltaHor, maxServoHor); // Connect the servo to pin , set start angle, set Delta, set max Servo Angle, move servo to start angle
vertical.init(servoPinVert, startAngleVert, deltaVert, maxServoVert); // Connect the servo to pin, set start angle, set Delta,set max Servo Angle, move servo to start angle
Serial.begin(115200);
Wire.begin();
while (!huskylens.begin(Wire)) {
Serial.println(F("HUSKYLENS not connected!"));
delay(100);
}
huskylens.writeAlgorithm(ALGORITHM_FACE_RECOGNITION);
}
void loop() {
if (!huskylens.request()) return;
for (int i = 0; i < huskylens.countBlocks(); i++) {
HUSKYLENSResult result = huskylens.getBlock(i);
printResult(result);
if (result.ID == trackID) {
handlePan(result.xCenter);
handleTilt(result.yCenter);
delay(250); // Add a delay to allow the servo to move to the new position
}
}
}
void handlePan(int xCenter) {
byte mode = 0;
if (xCenter > minPixelHor && xCenter < lowPixelHor) { mode = 1; }
if (xCenter > highPixelHor) { mode = 2; }
switch (mode) {
case 0: // No change with x_center below minPixelHor or between lowPixelHor and highPixelHor
break;
case 1: // Increase servo angle
horizontal.movePlus();
break;
case 2: // Decrease servo angle
horizontal.moveMinus();
break;
}
}
void handleTilt(int yCenter) {
byte mode = 0;
if (yCenter > minPixelVert && yCenter < lowPixelVert) { mode = 1; }
if (yCenter > highPixelVert) { mode = 2; }
switch (mode) {
case 0: // No change with yCenter below 10 or between 90 and 150
break;
case 1: // Decrease servo angle
vertical.moveMinus();
break;
case 2: // Increase servo angle
vertical.movePlus();
break;
}
}
void printResult(HUSKYLENSResult &Result) {
Serial.print("Object tracked at X: ");
Serial.print(Result.xCenter);
Serial.print(", Y: ");
Serial.print(Result.yCenter);
Serial.print(", Width: ");
Serial.print(Result.width);
Serial.print(", Height: ");
Serial.print(Result.height);
Serial.print(", Tracked ID: ");
Serial.println(Result.ID);
}
Could not resist to include this function ...
Delay based on servo movement
/*
**********************************************
2024/01/15
delay depending on servo movement ...
Compiled but not tested ...
ec2021
***********************************************
*/
#include <HUSKYLENS.h>
#include <Wire.h>
#include <Servo.h>
const int minPixelHor = 10;
const int lowPixelHor = 130;
const int highPixelHor = 190;
const int startAngleHor = 90;
const int maxServoHor = 120;
const float deltaHor = 1.5;
const byte servoPinHor = 9;
const int minPixelVert = 10;
const int lowPixelVert = 40;
const int highPixelVert = 190;
const int startAngleVert = 90;
const int maxServoVert = 120;
const float deltaVert = 1.0;
const byte servoPinVert = 10;
const int trackID = 2;
struct servoType {
Servo servo;
int angle;
float fAngle;
float delta;
int maxServoAngle;
void init(byte aPin, int startAngle, int aDelta, int MaxServoAngle) {
servo.attach(aPin);
angle = startAngle;
fAngle = startAngle;
delta = aDelta;
maxServoAngle = MaxServoAngle;
servo.write(angle);
}
void movePlus() {
move(1);
}
void moveMinus() {
move(-1);
}
void move(int dir) {
fAngle += dir * delta;
angle = constrain(fAngle, 0, maxServoAngle);
servo.write(angle);
if (fAngle < 0.0) { fAngle = 0.0; }
if (fAngle > maxServoAngle) { fAngle = maxServoAngle; }
}
};
HUSKYLENS huskylens;
servoType horizontal;
servoType vertical;
void setup() {
horizontal.init(servoPinHor, startAngleHor, deltaHor, maxServoHor); // Connect the servo to pin , set start angle, set Delta, set max Servo Angle, move servo to start angle
vertical.init(servoPinVert, startAngleVert, deltaVert, maxServoVert); // Connect the servo to pin, set start angle, set Delta,set max Servo Angle, move servo to start angle
Serial.begin(115200);
Wire.begin();
while (!huskylens.begin(Wire)) {
Serial.println(F("HUSKYLENS not connected!"));
delay(100);
}
huskylens.writeAlgorithm(ALGORITHM_FACE_RECOGNITION);
}
void loop() {
if (!huskylens.request()) return;
for (int i = 0; i < huskylens.countBlocks(); i++) {
HUSKYLENSResult result = huskylens.getBlock(i);
printResult(result);
if (result.ID == trackID) {
if (handlePan(result.xCenter) || handleTilt(result.yCenter)){
delay(250); // Add a delay to allow the servo to move to the new position
}
}
}
}
boolean handlePan(int xCenter) {
byte mode = 0;
if (xCenter > minPixelHor && xCenter < lowPixelHor) { mode = 1; }
if (xCenter > highPixelHor) { mode = 2; }
switch (mode) {
case 0: // No change with x_center below minPixelHor or between lowPixelHor and highPixelHor
break;
case 1: // Increase servo angle
horizontal.movePlus();
break;
case 2: // Decrease servo angle
horizontal.moveMinus();
break;
}
return mode;
}
boolean handleTilt(int yCenter) {
byte mode = 0;
if (yCenter > minPixelVert && yCenter < lowPixelVert) { mode = 1; }
if (yCenter > highPixelVert) { mode = 2; }
switch (mode) {
case 0: // No change with yCenter below 10 or between 90 and 150
break;
case 1: // Decrease servo angle
vertical.moveMinus();
break;
case 2: // Increase servo angle
vertical.movePlus();
break;
}
return mode;
}
void printResult(HUSKYLENSResult &Result) {
Serial.print("Object tracked at X: ");
Serial.print(Result.xCenter);
Serial.print(", Y: ");
Serial.print(Result.yCenter);
Serial.print(", Width: ");
Serial.print(Result.width);
Serial.print(", Height: ");
Serial.print(Result.height);
Serial.print(", Tracked ID: ");
Serial.println(Result.ID);
}
