Well I yet could not control all things but at least I know that function works.
And yes, he is supposed to form a MB and the rotating is also what he is supposed to do, the wibbling is an unwanted effect probably some aiming genes are disturbing each other.
The small bot, the eye, will focus at the nearest bot, the big bot, the head, will ignore bots of his own kind while searching around. (note that I still did not built in any feeding genes, reproducing genes,waste genes etc)
When for a long time he spots no vegs he is supposed to go into swarming mode, here the head is supposed to face(move) into an direction messaged to him and the eye is supposed to read information from the other bots giving the head a vector in which he has to aim(move).