[JesseK]

We used HOT/Ether's ballistics spreadsheet in 2014 and found a really nice sweet spot for an arc given an exit velocity. Reality was pretty close to the simulation that year, so we used the spreadsheets again this year. For 2016 we need two different configurations (each of tilt/speed) to hit the entire range we want. The good news is that vision doesn't have to care about distance so much as left/right aim.

If you ever want to see a programmer's face go from stressed/contorted to totally relaxed in under a second then tell the programmer that the acceptable margin of error for range finding is +/- 10% (about 2 feet).

There's always the possibility of the magical, once-in-a-season shot from the low bar. If the cycles work out such that it's faster to pass the ball to a robot which stays in the courtyard then who knows - this may be the only place to shoot from.