Smart Shooter

[Nicholas-Stokes]

"Also keep in mind - we shouldn’t have a single set speed for the shooter. It should be slightly variable. Our systems should be smart enough to work together to decide that we’re “close enough” to shoot a ball. Drive should bring us roughly to a distance, vision should confirm, shooter should see if we’re within a range of the target we feel comfortable hitting. We should start stopping the drive and start adjusting the shooter so by the time we come to a stop we can shoot." -Zach

[ZachOrr]

It's worth thinking about this in terms of API -

If we consider pulling up to the Hub and attempting to shoot as soon as possible - we should be able to ask the shooter if it is able to "make a shot" at a given distance. Once it answers yes - we know to slow down + start setting the speed of the shooter so we can take a shot once the shooter is at the desired speed.

If we imagine moving and shooting it's a similar situation. We might just need some helper code given a location + velocity + distance to figure out what speed we need to be to shoot.

But again - solve the easy problem first. Consider what the shooter API + the drivetrain API needs to look like working together to get the desired outcome.