Help with Sharp IR

[javafiend]

I need some help with this idea for my scanning Sharp IR. 

Here is what I want to do:

1.  Auto calibrate
2.  Scan and acquire target
3.  Follow target
4.  If target is lost then pause
5.  Recalibrate
6.  Scan until new target is acquired

I am using the code for the $50 robot with the Sharp IR upgrade.

[Trumpkin]

just use the $50 robot sharp IR code.

[javafiend]

I am.  I didn't see any part of the code that accounts for losing a target and recalibrates the scanner.  I guess I could probably figure it out if I knew how to tell when the target was lost.