[Jon Stratis]

Mount the cylinder on a pivot (like a lazy susan), and turn it with a motor, utilizing feedback from a gyro (or a camera if there's something to track on, like one of the goals). It requires some good code to make it work right, but teams have definitely done it before. I have a copy of the Behind the Design book for Aim High next to me, and there's some significant discussion in it about using and controlling a rotating turret for shooting balls.