[Donut]

That would be cool, except for the part where it tries to fire the balls it doesn't have, because it's already fired the 10 balls it started with.

And it's no where near impossible to hit the center goal without using the camera at all. The camera is a very good assistance and increases your accuracy humongously; but you can calculate that your robot could hit the goal if it's between x distance and x distance, estimate that distance during the match using field features (and knowing their distance from the goal), and try to line it up so the ball will land in the goal. Alot more room for you to miss, but still possible.