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Originally Posted by gnirts
If you are talking about firing while moving, all you need to know is your speed, which way your turret is aimed in relation to the direction of the robot, which way the robot is pointed, and have tracking data on the green light. Maybe not even that much.
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To know speed, you must have an accleremotor or an encoder, as I said. Robot turning requires gyro, angle of rotator in relation to the robot requires a POT, and the tracking stuff requires the camera. I hope all teams will have the camera at least semi-working, but using all the other data is alot to ask for.
You must know your speed in your current direction, relate this to how fast you are moving to/from the goal, and change your shooter speed/rotation to account for it. Is your shooter or rotator going to be able to move/change speed fast enough to keep up? By the time it gets in position, your robot might be well past the point that required those parameters. Also, what happens if your robot is not moving at a constant speed? You must now make a part of your code to account for acceleration in addition to velocity, even more of a pain. As an added bonus, a strong hit from another robot always has the possibility of throwing off your data (you may think parallel to the goal is 5 degrees past the original angle you thought of), compromising the whole system.
All of these calculations and compensations are possible. I don't think there is enough time in 6 weeks to do them all and test them properly though. I say less than 5 teams are able to do this well, and at least 4 of them will be from teams that used the camera very effectively in autonomous last year.