Trajectory Troubles ::LabView::

[dipmeinaluminum]

This years design consists of bringing the ball up to a shooter that is mounted on a turret. the shooter design is a one wheel shooter that is mounted to a lazy Susan powered by one motor. now i have been pulling my hair out trying to come up with some kind of program using the camera to scan and lock on to a Foe trailer. using only 200 degree of movement. ill use the Gimbol or mount it right to the shooter, i don't care. maybe using the Y servo position calculate the speed of the wheel to get the balls into the trailer. PID's and things I'm still trying to understand and use. when the trailer is far away, speed up the motor. when close, slow it down, trajectory. can any team help me out?!?! I'm dying here! i have been reading fourms and just spend all my time trying to come up with something...

Love Mike

[XXShadowXX]

this should lessen your pain

find the square root of

(dg)/(sin (2a))

gives your velocity to hit the target

d=distance
g= accleration due to gravity (32f/s^2 or 9.8 m/s^2 on earth)
sin = sine, the trig function
2a= 2 times your angle of firing

if you are always feeding a distance (in standard units), and set your angle of fire to a constant (and backward solve for the speed of the motor) you will change speed in proption to distance

[intellec7]

Instead of using the Tilt servo's angle as a direct input into the trajectory equation, you should use trigonometry. You know how high the target is and you know how high the camera is. tan(tilt_angle )= (height_target - height_camera)/ distance

so

distance = (height_target - height_camera) / tan(tilt_angle)

Then look into the trajectory equations for a projectile launched at constant V at an angle. It involves decomposing the angled velocity into a horizontal velocity (which never changes throughout the trajectory) and a vertical velocity (which changes due to gravity).