Thanks! Unfortunately we just got the camera tracking on the turret today, so we really haven't had much time to adjust anything. We're planning on creating a "leading" program based on the speed of the turret encoder, but that might take a few days to implement considering all the other things that need to get done (traction control in auto?). Stationary we can make every shot from any distance, although our shooter speed is still controlled by humans and as such keeps fluctuating slightly
We'll (try to) keep everyone posted on our progress with the turret!