[6600gt]

We are going to try and keep constant track of the goal with the camera and then using its relative positon on the robot,the data it relays back, a couple of trig functions and projectile motion equation, to try to adjust the angle and direction of the cannon constantly.
I think the camera can do like 25 frames per second, right?
What worries me is how to compensate when being hit by other robots?

When your robot is just about to fire and another robot hits yours, there is no way to adjust the cannon fast enough to compensate that I can think of.