Fix mixed camel-case and snake-case.

diff --git a/src/main/java/frc/robot/util/ShooterPhysics.java b/src/main/java/frc/robot/util/ShooterPhysics.java
index d725e2c9a3ab2264f2e5fa90c2a19881ae34b58f..0aa65b82b2b59962f29e195eb3d7804a290a887e 100644 (file)
--- a/src/main/java/frc/robot/util/ShooterPhysics.java
+++ b/src/main/java/frc/robot/util/ShooterPhysics.java
@@ -10,21 +10,21 @@ import frc.robot.constants.Constants;
 class ShooterPhysics {
        // pitch in radians, going up from the horizontal
        // exit velocity speed in m/s
-       public record TurretState(Rotation2d yaw, double pitch, double exit_vel) {
+       public record TurretState(Rotation2d yaw, double pitch, double exitVel) {
        };
 
        public static TurretState getShotParams(Translation2d robotVelocity, Translation2d robot, Translation3d target,
                        double height) {
                Translation3d robotToTarget = target.minus(new Translation3d(robot));
-               Translation3d exit_vel = getRequiredExitVelocity(robotVelocity, robotToTarget, height);
+               Translation3d exitVel = getRequiredExitVelocity(robotVelocity, robotToTarget, height);
 
-               Translation2d as2d = exit_vel.toTranslation2d();
+               Translation2d as2d = exitVel.toTranslation2d();
                Rotation2d yaw = as2d.getAngle();
                double magnitude2d = as2d.getDistance(Translation2d.kZero);
 
-               double pitch = new Translation2d(magnitude2d, exit_vel.getZ()).getAngle().getRadians();
+               double pitch = new Translation2d(magnitude2d, exitVel.getZ()).getAngle().getRadians();
                pitch %= Math.PI * 2;
-               double speed = exit_vel.getDistance(Translation3d.kZero);
+               double speed = exitVel.getDistance(Translation3d.kZero);
 
                return new TurretState(yaw, pitch, speed);
        }
@@ -41,7 +41,7 @@ class ShooterPhysics {
                // peakZ = .5 * v_z_exit_vel² / g
                // v_z_exit_vel² = 2 * peakZ * g
                // v_z_exit_vel = √(2 * peakZ * g)
-               double zExit_vel = Math.sqrt(2 * peakZ * Constants.GRAVITY_ACCELERATION);
+               double zExitVel = Math.sqrt(2 * peakZ * Constants.GRAVITY_ACCELERATION);
 
                // now we need time to hit target
                // z_target = v_z_exit_vel * t - .5 * g * t²
@@ -51,7 +51,7 @@ class ShooterPhysics {
                // t = (-v_z_exit_vel ± √(2 * g * z_target)) / -g
                // onlz use - because we only want the part where it's coming down, and that
                // gives the longer time
-               double t = (-zExit_vel - Math.sqrt(2 * Constants.GRAVITY_ACCELERATION * target.getZ()))
+               double t = (-zExitVel - Math.sqrt(2 * Constants.GRAVITY_ACCELERATION * target.getZ()))
                                / -Constants.GRAVITY_ACCELERATION;
 
                if (t < 0)
@@ -62,10 +62,10 @@ class ShooterPhysics {
                // x_target = (v_x_robot + v_x_exit_vel) * t_target
                // v_x_robot + v_x_exit_vel = x_target / t_target
                // v_x_exit_vel = x_target / t_target - v_x_robot
-               double xExit_vel = target.getX() / t - robotVelocity.getX();
+               double xExitVel = target.getX() / t - robotVelocity.getX();
                // same for y
-               double yExit_vel = target.getY() / t - robotVelocity.getY();
-               return new Translation3d(xExit_vel, yExit_vel, zExit_vel);
+               double yExitVel = target.getY() / t - robotVelocity.getY();
+               return new Translation3d(xExitVel, yExitVel, zExitVel);
        }
 
        // call with default tolerance