[d.courtney]

1. Yes
2. I am working on a more complex method now for the thing to be quicker, but we have had 90% accuracy from calculating the angle, moving to an ideal location (which in itself is about no more then 20 lines) and in 3 lines shooting the thing... so in a bit less the 25 lines I've made an autonomous that can shoot about 4 of the balls (but then again a few of the lines are calling functions from other files...), with 90% accuracy within the 10 sec frame.
3. again 90%