Use the goal's y position to scale the shooter velocity up/down.
for each of our shot locations on the field, record the associated vertical position of the target by the limelight.
Might need new positions that bound the min/max extents that the target is in view for
plot these points in google sheets/excel and add a curve fit
verify r^2 value of fit curve is >0.9
bring that curve into the robot code, as part of the shooter subsystem.
should add a method that will take in a target Y position value as a double, and return the appropriate shooter velocity in RPM using the curve developed above
We will want to move the limelight to a position forward of the shooter motors (not on the hood) before making these changes.
This will allow us to keep a stationary limelight position regardless of the hood angle, so we don't have to adjust the limelight's reported target-y position as the hood angle changes.
Use the goal's y position to scale the shooter velocity up/down.
We will want to move the limelight to a position forward of the shooter motors (not on the hood) before making these changes. This will allow us to keep a stationary limelight position regardless of the hood angle, so we don't have to adjust the limelight's reported target-y position as the hood angle changes.