Auto-Aiming Ball Launcher

Why auto-aim

The simplest approach is a fixed launcher: mount it to the frame at a single angle and drive the robot until the shot lines up. This works, but every scoring cycle requires repositioning the entire chassis, and consistency depends on the driver returning to the same location each time. By giving the aiming system its own two degrees of freedom, turret heading and hood angle, the launcher can track the goal regardless of the robot's position or orientation. The tradeoff is the need to design and tune a closed-loop control system rather than relying on a rigid mount, but the payoff is faster cycle times and aiming accuracy that no longer depends 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.