Account for robot velocity
When the robot moves sideways, the ball carries that sideways velocity as it leaves the shooter. Without compensation, the ball’s flight path changes even if the shooter keeps the same angle relative to the robot.
The documented calculation subtracts chassis velocity from the required launch velocity, using field coordinates for both: v_launch/robot = v_required/field − v_chassis/field. The result is converted into turret, hood and flywheel targets.
Why flight time matters
For the same sideways velocity, a longer flight produces more sideways travel. The calculation therefore needs flight time, which depends on launch height, target height and the chosen apex.
The manual compares a lower-apex trajectory with a reference trajectory. It reports a theoretical flight-time reduction from about 1.71 s to 1.12 s and a 30.8–47.2% reduction in initial energy. These are vacuum-model results, not measured robot energy savings or match accuracy.
Try the demonstration
In the interactive lab, change chassis speed and compare shots with compensation on and off. Keep the target and launch geometry fixed to see the effect of sideways movement.
The demonstration isolates velocity addition using stated assumptions. It explains the principle; it does not run the full VISTAeroSpin-5D implementation.
