Our shooter was designed in such a way that rotation was handled by the drivetrain, and distance by shooter rpm.
If using a CANjaguar, extremely repeatable results can be obtained by measuring the voltage instead of the rpm.
Shooting at a very high angle can be a lifesaver, because you can avoid shooting for the backboard, which makes shoots somewhat unreliable. Not to mention shots that are all net look pretty cool when you make them every time!
Make sure that you tighten bolts/other fasteners on your shooter whenever possible, because the vibration + excessive movement = inaccurate shots.
Recalibration is a must. During our regional, the balls would keep getting squishier and squishier at a rate which we did not expect. So between matches (when our robot wasn't being repaired
), we would head down to the practice field and change constants in our program.