Package frc.rebuilt

Class ShotCalculator

java.lang.Object

frc.rebuilt.ShotCalculator

public class ShotCalculator
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	ShotCalculator.ShootingParameters	Immutable snapshot of all quantities needed to command the drive, hood, and flywheel subsystems for a single shot.

Field Summary

Fields

Modifier and Type	Field	Description
static double	DRIVE_ANGLE_OFFSET
static double	HOOD_ANGLE_OFFSET
static final double	STARTING_DRIVE_ANGLE_OFFSET
static final double	STARTING_HOOD_ANGLE_OFFSET

Method Summary

Modifier and Type	Method	Description
void	clearShootingParameters()	Clears the cached parameters so they are recomputed on the next call to getParameters().
static Command	decreaseDriveAngleOffset()
static Command	decreaseHoodAngleOffset()
static ShotCalculator	getInstance()
ShotCalculator.ShootingParameters	getParameters()	Returns the current shooting parameters, computing them from the robot's live pose and velocity if not already cached this loop.
static Command	increaseDriveAngleOffset()
static Command	increaseHoodAngleOffset()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

STARTING_HOOD_ANGLE_OFFSET

public static final double STARTING_HOOD_ANGLE_OFFSET

See Also:

• Constant Field Values

HOOD_ANGLE_OFFSET

public static double HOOD_ANGLE_OFFSET

STARTING_DRIVE_ANGLE_OFFSET

public static final double STARTING_DRIVE_ANGLE_OFFSET

See Also:

• Constant Field Values

DRIVE_ANGLE_OFFSET

public static double DRIVE_ANGLE_OFFSET

Method Details

getInstance

public static ShotCalculator getInstance()

increaseHoodAngleOffset

public static Command increaseHoodAngleOffset()

decreaseHoodAngleOffset

public static Command decreaseHoodAngleOffset()

increaseDriveAngleOffset

public static Command increaseDriveAngleOffset()

decreaseDriveAngleOffset

public static Command decreaseDriveAngleOffset()

getParameters

public ShotCalculator.ShootingParameters getParameters()

Returns the current shooting parameters, computing them from the robot's live pose and velocity if not already cached this loop.

Approach:

1. Apply a phase delay to the odometry pose to account for sensor latency.
2. Compute the launcher's field-relative velocity, including the tangential component from robot rotation about its centre.
3. Decompose that velocity into radial (toward target) and tangential (perpendicular) components.
4. Run the 1690 Orbit iterative virtual-target solver to determine the optimal exit speed, launch angle, and yaw correction for shoot-on-the-move.
5. Derive the drive angle, hood angle, and flywheel RPM from the result.

Call clearShootingParameters() at the start of each loop to allow re-computation on the next call.

Returns:

the latest ShotCalculator.ShootingParameters

clearShootingParameters

public void clearShootingParameters()

Clears the cached parameters so they are recomputed on the next call to getParameters().