Update ShooterPhysics.java

diff --git a/src/main/java/frc/robot/util/ShooterPhysics.java b/src/main/java/frc/robot/util/ShooterPhysics.java
index b7c5a0f8791032d5e9ee9fbb37131466ce7762f2..4e40995757a39cfb8cf6abae773a8823674ae55d 100644 (file)
--- a/src/main/java/frc/robot/util/ShooterPhysics.java
+++ b/src/main/java/frc/robot/util/ShooterPhysics.java
@@ -24,6 +24,14 @@ public class ShooterPhysics {
                }
        };
 
+       /**
+        * Specifies the constraints of the shot.
+        *
+        * @param height The minimum apex height of the shot.
+        * @param maxVel The maximum exit velocity of the shooter
+        * @param minPitch The minimum pitch covered by the hood
+        * @param maxPitch The maximum pitch covered by the hood
+        */
        public record Constraints(double height, double maxVel, double minPitch, double maxPitch) {
        };
 
@@ -33,19 +41,31 @@ public class ShooterPhysics {
         * @param robotVelocity The x and y velocity of the robot, field relative.
         * @param robotToTarget The robot to target transform. Angles are field
         *                      relative, positions are with the robot as the origin.
-        * @param height        The peak height the trajectory should reach.
+        * @param peakHeight        The peak height the trajectory should reach.
         * @return A TurretState that represents the shot the robot should take.
         */
        public static TurretState getShotParams(Translation2d robotVelocity, Translation3d robotToTarget,
-                       double height) {
-               double zExitVel = Math.sqrt(2 * height * Constants.GRAVITY_ACCELERATION);
+                       double peakHeight) {
+               double zExitVel = Math.sqrt(2 * peakHeight * Constants.GRAVITY_ACCELERATION);
                double t = (-zExitVel - Math.sqrt(Math.pow(zExitVel, 2) - 2 * Constants.GRAVITY_ACCELERATION * robotToTarget.getZ())) / -Constants.GRAVITY_ACCELERATION;
-               Translation3d exitVel = getRequiredExitVelocity(robotVelocity, robotToTarget, height);
-               return cvtShot(exitVel, height, t);
+               Translation3d exitVel = getRequiredExitVelocity(robotVelocity, robotToTarget, peakHeight);
+               return cvtShot(exitVel, peakHeight, t);
        }
 
-       public static TurretState getShotParams(Translation3d robotToTarget, double height) {
-               return getShotParams(new Translation2d(0, 0), robotToTarget, height);
+       /**
+        * Calculates shot parameters for stationary shooting using Physics™.
+        *
+        * @param robotToTarget The robot to target transform. Angles are field
+        *                      relative, positions are with the robot as the origin.
+        * @param peakHeight        The peak height the trajectory should reach.
+        * @return A TurretState that represents the shot the robot should take.
+        */
+       public static TurretState getShotParams(Translation3d robotToTarget, double peakHeight) {
+               return getShotParams(new Translation2d(0, 0), robotToTarget, peakHeight);
+       }
+       
+       public static Optional<TurretState> getConstrainedParams(Translation3d robotToTarget, Constraints constraints){
+               return getConstrainedParams(new Translation2d(0, 0), robotToTarget, constraints);
        }
 
        public static Optional<TurretState> getConstrainedParams(Translation2d robotVelocity, Translation3d robotToTarget,