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Re: How does your auto-aim work?
We use two cameras, each mounted on the pan/tilt servo, one on either side of the shooter, to "triangulate" the range to the target. Generally, the range estimate we get from that is accurate to within 5 inches. That gives us the x-vector that we need to plug in to the launch angle formula, given the constant Y-vector and the constant speed that we hold our shooter motors at.
This approach works well.
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... one of the main causes of the fall of the Roman Empire was that, lacking zero, they had no way to indicate successful termination of their C programs.
-- Robert Firth
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