[KrazyCarl92]

Although we never did get our competition shooter working well due to CAN issues (so we were forced to pursue a defensive role instead...), between our 1st and 2nd regionals we did a lot of work with the practice robot to increase our shooting accuracy from the key to about 90%.

We had a 2 axle shooter with the following qualities:
-6 in. diameter wheels
-2.25 in. compression
-"0" degrees travel in the shooter because it was a 2 axle design rather than a 1 axle design with a hood
-We used the standard KOP wheels from previous years, but turned down the edges on a lathe to a 15 degree angle on each wheel so the ball would sit nicely between the 4 wheels (This dramatically increased our consistency, along with adjusting the compression between the two axles)

I can't speak much to ball variability, as our robot only took one shoot ever in competition with this configuration before CAN brownouts forced a switch to PWM (and ruined our speed control method along with any hopes of accurate shooting). But back home with the practice robot, we tuned our robot to shoot well with the 5 balls we deemed close to competition quality, and saw little shot variation among these 5. About 20 others were FAR softer than any of the balls we ever saw in competition (according to our inbounder).