This link contains our source files for the arduino and Visual C++. It should be noted that the OpenCV library used is the older version (v2.1 not v2.2), so if the 2.2 version is desired then the code will have to be modified. The actual C++ file of interest is OpenCV1.CPP which contains the main loop of execution. The file OpenCV.CPP has remnants of the code with two web cameras being interfaced, but it was abandoned when we made the decision to control only one car.
There are .AVI files in the folder that are of no use for the project, we used them to better understand how the OpenCV library worked.