Hi Kurt, I got the Pixy camera working okay with the Phoenix code. Initially have trained the camera to track a blue ball and integrated the Pixy output to control the tilt/pan and get the robot to follow. See YouTube https://youtu.be/NOewaW7_trA
I also added the memory code and I get the following with the Pixy code added
starting Heap info: start: 200025d8 current: 20002920
Start Stack info: end: 20005000 current: 20004fd0
Heap ptr: 20002b94 Usage: 1468
Stack Max: 20004c28, usage: 984
Estimated unused memory: 8340

How close am I to running out of memory? My next step will be to add the Lidar code back in. It's commented out at the moment.