[Tottanka]

Actually, coding wasnt the problem in navigation...
U just get the location of the bot in comparison to the light using the CMUcam2, and then u know where to turn, as in to make the gap between bot and light smaller and smaller till it reaches zero, and then u simply shoot...
The problem isnt programming, but setting the CMUcam2 correctly, which includes a lot of testings...


As of my team, we had a cannon, which was set to change his angle automatically during the game moving between 30 and 55 degrees. what gave us an awesome range...
WE just tested what angle is needed for a 3m distance,4m, 5m, 6m etc... Put it in the code beeing depanded on inputs fromc amers that sais the distance from the target, and according to it knowing the needed angle using the Gyrometer....

It really helped us, and one of my best moments in the competition was our second regional semi final when we were located 3M from ceter goal, shot 2 balls in, and then a strong but low bot pushed us all the way back to our ramp, and during his push we kept on shooting and it got in, with the cannon automaticaly adjuting its angle according to the distance...was very very beautifull...

oh yea, and Kevin is also very usefull =]