Has anyone else had trouble staying within the 10 second limit in autonomous?

[lkdjm]

Has anyone else found that 10 seconds is not enough time to move the robot to the light? I am using the camera to move the robot to the light. The fastest time we have had to get to the right spot an start shooting balls is 9 seconds. Obviously, 1 second is not enoght time to shoot balls, and also, most of the time it takes at least 15 seconds to get to the right spot. I decided that rather than going to the same spot every time, to have a very big dead-spot for tilt and then change the cannon speed(our cannon is fixed) based on exactly where we are. I have messed with the GAIN and even made my own system for it, and I have concluded that there is really no way to get to any spot in under 5 seconds. Sometimes it may take 5 seconds just to lock on to the light. If the GAIN is too high, it will keep over-shooting, and if it is too low, it is too slow. The perfect number is still to slow. Has anyone been more successful than me? Do you have any ideas for me? Is it possible that blob size and those other values would help?
-Dave
-Longwood team 564
564.first@gmail.com