[xmaams]

We are using a bang-bang controller on our shooter, which keeps us within 3% of our target rpm. Of course, this method has the best response after we shoot and requires no tuning. The RPM is measured with a light sensor and the FPGA timer.

We have a camera with RR code that detects the target and finds the distance with the angle the target occupies in our FOV and the ratio of the width and height of the target. That being said, we like to position ourselves on field objects. We don't use the camera during practice.