[Tatsu]

Well, a standard lookuptable is something like this..

y axis - theta
x axis - v

the entry for some v and theta gives you the distance (in this case from 5 ft to 81/2 ft).. therefore you reverse-lookup to find a theta. Lets say you keep v constant at 12 m/s Now just find an entry in the table which is equal do your distance from the goal... that gives you your fireing angle. Fire.

Otherwise you have to calculate angle depending on your distance, that's not possible when you factor air resistance.. (at least not to my knowelege).. so you have 2 options

a). use lookup tables to find an angle that matches your distance

or b). use a model without air-resistance and be off by a large amount the farther away you get.

Either way its not pretty, but I think our team wants to do a). (psst.. dont tell them I already made the lookup table, I want to see how fast our programmers get it =p )