How does your auto-aim work?

[phrontist]

We don't aim tilt automatically... it seems kind of pointless. You can hit the goal with the same tilt from a variety of distances, it's easier to just have the human driver do that. We have the camera mounted in the pan/tilt gimbal provided on the panning base of the shooter. The camera tries to track constantly, and when our Easy Button is depressed a PID loop tries to center the camera. It works quite well, only occassionally oscillating a bit when it's up close to the goal, but altering the PID equation to account for distance from the target could fix this.