[rwkling1]

you see, this is what our team did last year, we built a very complex robot (one that had the shooter able to turn, change the angle, had a range finder, camera, etc.) and we ended up not doing too well at competition because the programming was too complex for the programmers, all i'm saying is, if it doesn't work out, shoot from the front or back of the pyramid and have a set angle and speed, that is what we are doing, good luck!