From: iefomit <timofei.stem@gmail.com>
Date: Fri, 6 Feb 2026 01:01:17 +0000 (-0800)
Subject: small fixes
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=bfb9635d265d522e04345fbda0c6bb019596ddd5;p=FRC2026.git

small fixes
---

diff --git a/src/main/java/frc/robot/util/ShooterPhysics.java b/src/main/java/frc/robot/util/ShooterPhysics.java
index f6b7c32..f6381c3 100644
--- a/src/main/java/frc/robot/util/ShooterPhysics.java
+++ b/src/main/java/frc/robot/util/ShooterPhysics.java
@@ -111,7 +111,6 @@ public class ShooterPhysics {
 		double magnitude2d = onGround.getNorm();
 
 		double pitch = new Translation2d(magnitude2d, velocity.getZ()).getAngle().getRadians();
-		pitch %= Math.PI * 2;
 		double speed = velocity.getDistance(Translation3d.kZero);
 
 		return new TurretState(yaw, pitch, speed, height);
@@ -204,9 +203,9 @@ public class ShooterPhysics {
 			double guessSpeed = guessVelocity.getNorm();
 			double difference = minSpeed - guessSpeed;
 
-			// we've already hit minimum height and are trying to go lower
-			if (guess <= target.getZ() && difference < 0)
-				throw new RuntimeException("Incorrect minimum speed calculation in ShooterPhysics.java");
+			// If we're at minimum height and still need more speed, it's impossible
+			if (guess <= target.getZ() && difference > 0)
+				throw new RuntimeException("Impossible to achieve minimum speed for target " + target);
 
 			if (Math.abs(difference) <= tolerance)
 				return cvtShot(guessVelocity, guess);
diff --git a/src/test/java/frc/robot/util/ShooterPhysicsTest.java b/src/test/java/frc/robot/util/ShooterPhysicsTest.java
index b08981c..d034278 100644
--- a/src/test/java/frc/robot/util/ShooterPhysicsTest.java
+++ b/src/test/java/frc/robot/util/ShooterPhysicsTest.java
@@ -143,11 +143,6 @@ class ShooterPhysicsTest {
 				.exitVel());
 	}
 
-	@Test
-	public void angleTest() {
-
-	}
-
 	@Test
 	public void simpleConstraintsTest() {
 		Constraints constraints = new Constraints(3, 20, .1, Math.PI - .1);