Has anyone came up sucessful.....

[Uberbots]

We are having some really good results with robot tracking and firing at the target. Like gary said, its good enough that we'd consider putting an option for it in teleop, but we wont because our primary driver maneuvers better than any computer could.

the robot is really well off because of the turret, which means we can point the robot in the general direction of the target, and let the finely-tuned turret control loop do the rest.