[rbmj]

With the same ball, we are very consistent. We are able to get the frequency of the shooter wheels to stay +/- .25 hz, and the angle can reliable get to within a few degrees on the potentiometer. The biggest issue is if the ball is significantly lighter/heavier, but such variations should affect (almost) everyone. Spinup to layup speed takes about 2 sec, and to full launch speed takes a little longer (still working on our algorithm - a combination of open loop control to get us in the ballpark fast and PID to narrow it down).

@Raptor: Thanks on both counts.