[Tom Line]

I have a couple questions for you to think about.

I don't see any feedback from your shooter (yet). Consider: how will you insure your shooter is running the speed you want?

Next, that window motor runs at around 80 rpm. That means it wants to rotate once a second. You have it direct driving your hood. Are you planning on having two hood positions, each using a positive stop? If not, you may be in trouble. It will be difficult for your human player to try to manipulate that hood to a precise angle while your robot is on the field without some type of automatic feedback.

The included rectangular vision example is a good start, though it is complex. You will also find an NI whitepaper on it's use here on Chiefdelphi.