How does Kalman filter and a replacement of the PID control loop affect a robot’s ability to aim and shoot?

Public project summary

In this research project there will be a replacement of a robot's PID control loop with a new customized control loop which uses a Kalman filter to estimate the shooter's (a rotating turntable with a flywheel mounted on it) location relative to the target. After having the robot shoot at the ball while recording the number of shots and the number of shots missed, the new customized control loop will then be implemented and record the number shot and shots missed again and look for any improvements in accuracy or speed.