Camera is mounted on the robot, and is free to move with pan and tilt servos. When align trigger is pressed, the robot aligns itself with the target. When then shoot trigger is pressed, the camera takes the tilt angle, puts it into a table of values and gets the correct motor speed generated by trial and error testing
. Then all we have to do it FIRE! We also have LEDs writed from the OI that turn on and off according to alignment, correct speed, camera on/off things like that.