Projectile Fired at Stationary Target from Moving Base

[theun4gven]

I am trying to come up with an equation to determine the azimuth and incline a turret must be at to hit a stationary target of known distance and elevation when you know the initial velocity and mass of the projectile and the velocity of the base holding the turret. I am trying to program a robot to have this capability, but was never very good at physics.
Any help would be greatly appreciated,
Tom

 

[lightgrav]

ignoring air resistance,
the vertical component of velocity is reduced by 9.8 m/s each second;
the horizontal component of velocity is constant... but the velocity of the base is added to the typical velocity of projectile .

depending on the scale of this robot, air resistance might be important ...