How does your auto-aim work?

[mogunus]

We use two cameras, each mounted on the pan/tilt servo, one on either side of the shooter, to "triangulate" the range to the target. Generally, the range estimate we get from that is accurate to within 5 inches. That gives us the x-vector that we need to plug in to the launch angle formula, given the constant Y-vector and the constant speed that we hold our shooter motors at.

This approach works well.