[Davx]

Both goals being on the field should not be much of a problem, since it is unlikely that you will be pushed onto the wrong side of the field, and your robot will know what position it is starting in.

The green targets are roughly 10ft above the field, and if you are using Kevin's 2006 CMUCam code, you will be able to easily get the angle of your tilt servo, that angle becomes theta, from that you can do Tan(Theta) = (10/X) and solve for X. That reduces to X = (10 / Tan(Theta)). The field is 54' long, if you are >28ft away, you know that you are shooting onto the other side of the field.

It's not perfect, but it's unlikely that your robot will be pushed onto the wrong side of the field, and turned around. This is why it makes sense to have an onboard navigation system.

I’d really like to see our team design a bot capable of shooting into the center goal, the only real issue I can see is the hardware shooting device not being consistent enough to depend on it.