SOTM

Shoot On the Move ideas for FRC

Given Variables

• Robot Position X -> rdx

• Robot Position Y -> rdy

• Robot Velocity X -> rvx

• Robot Velocity Y -> rvy

• Time Calibration Curve

• Hood Angle Calibration Curve

• Distance to RPM Calibration Curve

Other Variables

• Robot Position Vector -> rd

• Time -> t

• Ball Velocity X -> bvx

• Ball Velocity Y -> bvy

• Ball Velocity Z -> bvz

• Ball Velocity XY -> bvxy

• Original Ball Velocity

• Summed Velocity X -> nvx

• Summed Velocity Y -> nvy

• Summed Velocity Vector Magnitude -> nv

• Summed Velocity Vector Angle -> thetaT

• Hood Angle -> thetaH

Math

rd = sqrt(rdx^2+rdy^2)

t = timeCali(rd)

bvx = rdx/t

bvy = rdy/t

nvx = bvx-rvx

nvy = bvy-rvy

nv = sqrt(nvx^2+nvy^2)

thetaT = atan(nvy/nvx)

thetaH1 = angleCali(rd)

bv1 = speedCali(rd)

bvz = sin(thetaH1)

bvxy = nv/bv*cos(thetaH1)

thetaH2 = atan(bvz/nv)

shooterRPM = speedCali(rd)*nv/bv