Leading (and lagging) the Target

[gnirts]

The strategy sub-team on my team is really adamant about being able to accurately hit the goal while the robot is moving at non-trivial speeds, either toward (and away from) the target or side-to-side, or both. The first case is fairly easy, due to the flatness of the trajectory of our balls, but the last two require you to know your velocity relative to the target in order to lead (or actually lag) it.

I was planning on using the gyro + accelerometers to get this information, and while the gyro is working great, it is difficult to get anything meaningful from the accelerometers. Is KW's code coming to rescue me? Are others making strong headway (is see mixed response here on CD)? Or am I going in the wrong direction?

What are people doing to hit the target while moving without using accelerometers? Or is the dual-axis accelerometer the way to go?

Thanks in advance,
Robinson