You can use kinematics equations to determine this. Luckily, @TheRichDarth made a lovely tool for calculating this here. You can apply the equations in your code to find flywheel RPM based on the distance from the goal.
You can use kinematics equations to determine this. Luckily, @TheRichDarth made a lovely tool for calculating this here. You can apply the equations in your code to find flywheel RPM based on the distance from the goal.