From: Arnav495 <arnieincyberland@gmail.com>
Date: Fri, 27 Feb 2026 22:39:42 +0000 (-0800)
Subject: Merge branch 'shooter-calcs' into week-0-comp
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=0bf004eede1b0c9badb77b83be8c2984485a694f;p=FRC2026.git

Merge branch 'shooter-calcs' into week-0-comp
---

0bf004eede1b0c9badb77b83be8c2984485a694f
diff --cc src/main/java/frc/robot/commands/gpm/Superstructure.java
index dfb0ba9,9dc27f1..9567be4
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@@ -27,8 -25,7 +25,8 @@@ import frc.robot.subsystems.spindexer.S
  import frc.robot.subsystems.turret.Turret;
  import frc.robot.subsystems.turret.TurretConstants;
  import frc.robot.util.PhaseManager;
- import frc.robot.util.ShooterPhysics;
 +import frc.robot.util.PhaseManager.CurrentState;
+ import frc.robot.util.ShooterPhysics;
  import frc.robot.util.ShooterPhysics.Constraints;
  import frc.robot.util.ShooterPhysics.TurretState;
  
@@@ -117,12 -115,13 +116,14 @@@ public class Superstructure extends Com
                  target == FieldConstants.getHubTranslation().toTranslation2d() ?
                  FieldConstants.getHubTranslation().getZ() : 0.0); // Height of 0 if it's not the hub
  
-             goalState = ShooterPhysics.getShotParams(
+             var goalStateWithT = ShooterPhysics.getShotParamsWithT(
+ 					Translation2d.kZero,
  				target3d.minus(lookahead3d),
 -				2.0);
 +                target == FieldConstants.getHubTranslation().toTranslation2d() ?
 +				2.0 : 3.0);
+ 			goalState = goalStateWithT.getFirst();
  
-             timeOfFlight = goalState.timeOfFlight();
+             timeOfFlight = goalStateWithT.getSecond();
              double offsetX = turretVelocityX * timeOfFlight;
              double offsetY = turretVelocityY * timeOfFlight;
              lookaheadPose =
diff --cc src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index dd5e171,419f0f9..2597c8c
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@@ -18,7 -16,9 +18,10 @@@ import frc.robot.commands.gpm.IntakeMov
  import frc.robot.commands.gpm.ReverseMotors;
  import frc.robot.constants.Constants;
  import frc.robot.subsystems.Climb.LinearClimb;
+ import frc.robot.subsystems.Intake.Intake;
  import frc.robot.subsystems.drivetrain.Drivetrain;
+ import frc.robot.subsystems.hood.Hood;
++import frc.robot.subsystems.hood.HoodConstants;
  import frc.robot.subsystems.shooter.Shooter;
  import frc.robot.subsystems.spindexer.Spindexer;
  import frc.robot.subsystems.turret.Turret;