Auto-Aiming Ball Launcher

Why auto-aim

The simplest approach is a fixed launcher: mount it to the frame at one angle and drive the robot until the shot lines up. It works, but every scoring cycle then includes repositioning the whole chassis, and consistency depends on the driver finding the same spot each time. Giving aiming its own two axes — turret heading and hood angle — lets the launcher track the goal regardless of where the robot is or which way it is facing. The trade is a closed-loop system to tune instead of a rigid mount, in exchange for cycle time and aiming that no longer rests on the driver.

The design

The launcher is built around three subsystems that share one aiming solution. A turret rotates the whole launcher independent of the chassis, so heading is handled without moving the robot. A hood above the wheels sets the exit angle, adjusting with target distance. On the way out, a pair of counter-rollers grips the ball to put backspin on it, which keeps the arc repeatable shot to shot. Turret heading and hood angle are driven from the same distance input, so the two stay locked to a single trajectory rather than being aimed separately.