We'll find out this weekend how (or whether) our auto-aim works.
We fix-mounted our camera such that at the base of the ramp, the target is at the top of the camera's field of view, and at half court, it is at the bottom. Based upon the Y position of the blob centroid, we calculate (actually lookup) the required shooter speed. We also have an auto-aim driving mode which uses the blob centroid's X position as input to a PID control loop to get and keep the robot pointed at the goal.