[cjl2625]

I just use the coordinates of where the goal is with respect to the camera to calculate distance and angle. Knowing x and y pixel coordinates, camera field of view, camera angle, etc, it's some trigonometry from there. Based on distance, we can change the pitch of our shooter, and speed is held constant. (we ran a quadratic regression to find the optimal shooter angle vs distance -- I suppose a similar thing could be done for shooter speed)

This method has worked well so far. When our robot isn't broken during a match (which is quite rare), the accuracy was pretty dead on.