[bombadier337]

For simplicity's sake, we are most likely going to have a shooter with a fixed vertical angle. We may lose the ability to shoot from every point on the field, but if we no where our good positions are we can increase our accuracy. We are simply having an adjustable angle (like that on a LCD projector, though a little more substantial and stable), so we can tweak it before competitions to fine tune it. Just my $0.02

Also, using the y axis signal from a camera set to lock on to the green target could simplify that a lot. You'd just need a formula to convert it to something usable for a lifting mechanism and compensate for an arc.