Hi, I'm Eeshwar

public class Robot {
  private final Shooter shooter;
  private final Odometry odometry;

  public void shootOnTheFly() {
    Vector2d robotVel = odometry.getVelocity();
    Vector2d target = getTargetPosition();

    // The magic: subtract robot velocity
    Vector2d shotVec = target.minus(robotVel);

    shooter.setVelocity(shotVec);
  }
}