From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 11 Apr 2026 17:07:58 +0000 (-0700)
Subject: tof change
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=3ca4f2a433b9ec60848dd40005742c2dd791b2f9;p=FRC2026.git

tof change
---

diff --git a/src/main/java/frc/robot/commands/gpm/Superstructure.java b/src/main/java/frc/robot/commands/gpm/Superstructure.java
index 97554f0..1fe654d 100644
--- a/src/main/java/frc/robot/commands/gpm/Superstructure.java
+++ b/src/main/java/frc/robot/commands/gpm/Superstructure.java
@@ -67,7 +67,8 @@ public class Superstructure extends Command {
 
     private double distanceFromTarget = 0.0;
 
-    private double TOFAdjustment = 0.85;
+    // private double TOFAdjustment = 0.85;
+    private double TOFAdjustment = 1.1;
 
     public Superstructure(Turret turret, Drivetrain drivetrain, Hood hood, Shooter shooter, Spindexer spindexer) {
         this.turret = turret;
diff --git a/src/main/java/frc/robot/util/ShooterPhysics.java b/src/main/java/frc/robot/util/ShooterPhysics.java
index 4e40995..f88d3b8 100644
--- a/src/main/java/frc/robot/util/ShooterPhysics.java
+++ b/src/main/java/frc/robot/util/ShooterPhysics.java
@@ -44,6 +44,17 @@ public class ShooterPhysics {
 	 * @param peakHeight        The peak height the trajectory should reach.
 	 * @return A TurretState that represents the shot the robot should take.
 	 */
+	/* 
+	zExitVel = 6.260990336 <-- im calling this x
+	z is the hub height = 72 inches
+	(-x - sqrt(x^2 -2 gz)) / -g
+	0.83 seconds when shooting
+
+	1.28 seconds when shuttling since target is 0;
+
+	0.83 * 0.85 
+
+	*/ 
 	public static TurretState getShotParams(Translation2d robotVelocity, Translation3d robotToTarget,
 			double peakHeight) {
 		double zExitVel = Math.sqrt(2 * peakHeight * Constants.GRAVITY_ACCELERATION);