[DavidGitz]

In my experience from Lunacy, a shooter wheel is going to take a small amount of time to spin up to speed, whether from shooting the first ball or after other balls. The spool-up time obviously depends on many factors but I'm going to assume that is not negligible and will have to be minimized. Also, the rpm of the shooter wheel(s) may have to be adjusted depending on which basket and how far away you are shooting from.

What I am planning on doing (for now, barring other complications) is having a shooter with closed-loop speed using a KOP encoder. We will determine when the shooter is built/tuned well for the balls what the desired rpm of the shooter is (for a certain goal, say shooting from 5' away at the 2nd level goal) and how long it takes to get there. If the desired rpm is somewhat consistent from shooting one ball to the next and the spool-up time is somewhat consistent we will use a variation of a LUT. If these values are not consistent or we find from a strategy point that we will want to adjust these in a match more accurately we will use a closed-loop solution.

Also, my opinion is that as long as you start with a fresh battery for every match and aren't doing anything "crazy" the battery voltage will not impact the spool-up time/speed to a noticable level. These opinions are entirely subject to verification and am only stating these as from my experience in Lunacy. This is not a apples-to-apples comparison but I think it makes a somewhat valid comparison, we were shooting a lot more balls in Lunacy but didn't worry as much about accuracy. During our testing phase we will also determine if the battery voltage discussion is a major or minor concern and adjust appropriately.

Finally my other opinion on this matter is that it will be a much bigger effort to be able to control the angle/speed of the ball coming out of the robot from a Driver perspective and/or using other sensors to help with this. This includes development of this control method along with the time it will take the Drivers to learn and use it in a quick manner.