[CircularLogic]

My team thought that even though varying speed is easier to do (less to build), the acceptable margin of error in varying speed was not enough for us. Consequently, we have decided that we need to vary our angle for the job.

We're doing this by only articulating the very end of our shooter and using a simple system of gears to move it, with a 2 or 3 turn potentiometer to keep our angle measured (although we may be replacing that method with a simple slow moving motor and a feedback loop to stop us at the angle we need and then some simple driver know how figure out if we are below or above angle).

Another way that we were thinking of articulating angles was a ball screw with two fixed points, one at the bottom of the socket and one attached to the end of the shooter. THen you simply spin the screw and it moves up or down. We ended scratching this idea after looking at the cost of it, but it still is a pretty good idea.