Shot Solver — Steelhawks

Target

Distance to hub (m) Hub mouth height (m) Hub mouth radius (m) Funnel wall height (m) Clearance above rim (m)

Launcher

Turret height (m) Fwd offset from turret (m) Wheel radius (m) Distance and height are referenced from the TURRET CENTER, matching the robot's LUT lookup (ROBOT_TO_TURRET = 17" high). Keep fwd offset at 0 — the robot doesn't model the exit point being forward of the turret axis, so neither should we; that offset gets absorbed into the slip + angle-bias tune.

Slip & ball condition

Slip efficiency η 0.75 Ball condition (hard ⇆ soft) 1.00 η × condition = effective wheel→ball transfer. Soft balls drop the multiplier; raise commanded RPS by the same ratio. Hood vs. ball angle bias (°) +0.0 Slo-mo offset. Positive = hood reads higher than the ball actually launches (soft balls compress and flatten the launch). The hood command in the LUT = physics θ + this bias.

Shot placement

Aim bias (front ⇆ back rim) 0.75 · back rim Where to live inside the valid (θ, v) envelope. 0.5 = centroid (max symmetric tolerance). >0.5 = bias toward the back rim with higher v and steeper θ. Real errors (drag, wear, voltage sag, range bias) almost all pull the ball short — biasing back converts "short of intended" into "lands in center" instead of "rim-out front."

Physics

Gravity g (m/s²) Ball mass (kg) Ball diameter (m) Air density (kg/m³) Drag coefficient Enable drag

Angle min (°) Angle max (°) Angle steps Speed cap (m/s) Show full envelope on trajectory plot

LUT export

Distance min (m) Distance max (m) Steps Variant name

Trajectory envelope

Speed × angle valid region