Defense system (help needed)(helped)

(Help needed!) so here is the deal, the cannon does well with detecting bots and set to accommodate to the bots speed fairly... But that's because i set up the angle on the servo to match the hight of the bot. Problem is, I want it to be fully automated to figure all the heights,angle, and trajectory it's self without the user having to accommodate every time the height or speed of the object changes under the sensor.
Basically a fully functional defense AI smart enough to know where and who to shoot.


you were making it way to complicated
the gun spinning was to fast and unreliable so i made an (almost) complete redesign.