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Edit: And this one...
http://ksp.olex.biz/
Another edit: You don't have to wait for the windows, you can go any time, you just need more delta V to do it.
https://docs.google.com/spreadsheets/d/1TOTvHIGdhWzK3FJC-DPzM1dQjXYcS_Mlbfs6rFD0hnU/pub?single=true&gid=0&output=html
Be carefull here - sometimes you will need so many dV that vanila engines simply can't provide.
Vote too for kebal alarm clock together with MechJeb - very usefull (MechJeb is wonderfull for ion-based probes that using prolonged burn times, doing this manually is too boring).
quite true also if you randomly force an encounter you tend to arrive at the target body with a massive velocity requiring sever breaking, especially difficult if the body in question does not have an atmosphere thereby preventing you from using areo-breaking
Start with a ship outside Kerbin's SOI, in Kerbin's orbital path, and ahead of it. (You CAN do this with a ship orbiting Kerbin, but that's a little more complicated)
Now create a maneuver node ahead of the ship. Use this to experiment. Add prograde burn time to the maneuver node until the planned path intercepts, say, Duna. When you get a "closest approach" marker, note whether you're going to end up ahead of Duna or behind it. That will tell you whether your burn will be early or late.
And that gives you an idea of when you should burn. If you get an intercept? Voila! At that point, note where Kerbin and your target planet are in their orbits. Draw a wedge from Kerbin to the Sun to the target planet, and note the angle. To reach that planet, that angle will always need to be (approximately) the same.
When you can do that without using a mod, you'll feel like a real Rocket Scientist. @:)
Kerbal Alarm Clock can automatically put transfer windows up for you (use "model" method and est alarm as re-ocurring) .. oddly I've found KAC transfers to be more accurate the TWP's, especally for Moho and Dres.. though they are both by the same author.
No, but a bit like when I said you can go anytime without waiting for the ideal window, people are still required to apply their grey matter and common sense to problem solve and evaluate situations.
The mods aren't designed to do everything for you, just take the pen and paper math or trial and error away.