Shoot on the Move: Kinematics & Physics

Most teams drive, stop, aim, and shoot. Elite teams drive and shoot. The problem? Physics.

The Vector Problem

If your robot is moving Left at 2 m/s, and you shoot a ball Forward at 10 m/s… The ball does not go straight Forward. It goes Diagonally. This is Relative Velocity.

The Solution: Vector addition

You must aim your turret “against the grain” to cancel out your robot’s motion.

1. Robot Velocity Vector ($V_r$): Your chassis speed.
2. Target Shot Vector ($V_t$): The path you want the ball to take (straight to goal).
3. Shooter Vector ($V_s$): The direction/speed you must actually fire.

$$V_s = V_t - V_r$$

Implementation

You need:

• Odometry: To know your exact $V_r$.
• Trigonometry: To calculate the angle offset.

Conclusion

It requires mastering high school physics, but it decreases your cycle time by 50%.