[Donut]

1. Yes, we have a launcher (one wheeled). We are changing speed while maintaining a constant angle (we likely will be able to change this angle between matches).

2. The angle of the camera from center (based off the servo pwm values) is run through a series of equations to determine ~desired speed (we did not factor in air resistance) and to rotate the shooter to the correct heading. These equations are done in a spreadsheet outside of the program and the final values are just put into a lookup table in the program.

A banner sensor is being used to measure the speed of the wheel so that we can maintain a certain speed rather than pwm, accounting for battery voltage changes.

The shooter can also be changed from auto tracking mode to manual tracking mode, where the 2nd driver uses a joystick and 4 push buttons to control direction of the rotator and desired speed (this speed is displayed in the user byte on the OI).

3. From the tests we've done, accurate provided you give it enough time to get back up to speed after each shot. We have not tried shooting in a goal since we completely finished all the bracing on it, so it should be even more accurate now.

I do not know how well anything in answer #2 works, we have to actually finish it and test it to see that.