Account for robot movement when shooting

[CanineSatsuma6]

Do this math:

Details

The shooter is currently set up to shoot into a target while the robot is not moving. If we want to shoot into the target while we're moving, we'll need to adjust our shot speed and our turret angle to account for the extra momentum on the ball during a shot.

In the screenshot above:

1. Θ is the angle we need to shoot at if stationary
2. D is the distance to the target
3. Vt is the velocity vector of the ideal shot if stationary
4. Vt' is the velocity vector of the ideal shot if moving
5. α is the angle we need to adjust the turret by when moving