[GreyingJay]

1241 had a great turret based high goal shooter for Stronghold. At first they would stop anywhere on the field in front of the batter to line up the shot, but teams playing defense quickly learned to disrupt them. So, they started driving up to a wall before lining up their shot, to reduce the impact of defense.

It took a second or two for their camera to acquire its target and align the shooter. For Stronghold this was fine, and rather necessary since if you missed your shot, you had to start all over again. But if the intent is to unload a hopper full of 50-100 balls at high speed, then I question whether it's worth it. In the time it takes to aim the turret you could just as easily start firing and adjust the robot itself.