Due to the amount of hands-on time needed to improve the intake, shooter tuning took a backseat. I'm pretty confident with a little more work we could have been hitting more shots like this one.
To make this happen we would:
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Handle the offset limelight from the shooter. Some trig is required to center yourself on the goal from any distance.
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Pick RPM from distance (i.e. our 2017 code)
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Handle target skew
All of our shots in Ri3D were run at a constant RPM with the limelight offset tuned at a fixed distance.
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Our code quality isn't great - quick hacks are an unfortunate reality of Ri3D. For your work in-season, check out the WPILib command framework.
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We used a custom dashboard for tuning, but you can easily accomplish the same with the SPARK MAX client or Shuffleboard. Check out Oblog for a library that makes interfacing with Shuffleboard a little cleaner.