From: mixxlto <maxtan0626@gmail.com>
Date: Thu, 15 Jan 2026 05:26:18 +0000 (-0800)
Subject: Merge branch 'shooter-calcs' of https://github.com/iron-claw-972/FRC2026 into shooter... 
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=e7653f29c260dcfe9b77d6a0c78331d8c84ce617;p=FRC2026.git

Merge branch 'shooter-calcs' of https://github.com/iron-claw-972/FRC2026 into shooter-calcs
---

e7653f29c260dcfe9b77d6a0c78331d8c84ce617
diff --cc src/main/java/frc/robot/util/ShooterPhysics.java
index 8d0ce40,d5b6759..39170de
--- a/src/main/java/frc/robot/util/ShooterPhysics.java
+++ b/src/main/java/frc/robot/util/ShooterPhysics.java
@@@ -59,14 -57,47 +59,47 @@@ class ShooterPhysics 
  		if (t < 0)
  			throw new RuntimeException("Time should never be negative (got t=" + t + ").");
  
 -		// calculate x and z impulse
 -		// x = (v_x_robot + v_x_impulse) * t
 -		// x_target = (v_x_robot + v_x_impulse) * t_target
 -		// v_x_robot + v_x_impulse = x_target / t_target
 -		// v_x_impulse = x_target / t_target - v_x_robot
 -		double xImpulse = target.getX() / t - initialVelocity.getX();
 +		// calculate x and z exit_vel
 +		// x = (v_x_robot + v_x_exit_vel) * t
 +		// 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();
  		// same for y
 -		double yImpulse = target.getY() / t - initialVelocity.getY();
 -		return new Translation3d(xImpulse, yImpulse, zImpulse);
 +		double yExit_vel = target.getY() / t - robotVelocity.getY();
 +		return new Translation3d(xExit_vel, yExit_vel, zExit_vel);
  	}
+ 
+ 	// call with default tolerance
 -	public static Optional<Translation3d> getImpulseForSpeed(Translation2d initialVelocity, Translation3d target,
++	public static Optional<Translation3d> getExitVelocityForSpeed(Translation2d initialVelocity, Translation3d target,
+ 			double speed) {
 -		return getImpulseForSpeed(initialVelocity, target, speed, 0.1);
++		return getExitVelocityForSpeed(initialVelocity, target, speed, 0.1);
+ 	}
+ 
 -	public static Optional<Translation3d> getImpulseForSpeed(Translation2d initialVelocity, Translation3d target,
++	public static Optional<Translation3d> getExitVelocityForSpeed(Translation2d initialVelocity, Translation3d target,
+ 			double speed, double tolerance) {
+ 
+ 		// TODO: detect when the given velocity is insufficient and exit before maxIters
+ 
+ 		// guess a peak height
+ 		double guess = 10;
+ 		int maxIters = 20;
+ 		while (maxIters >= 0) {
+ 			maxIters--;
 -			Translation3d guessVelocity = getRequiredImpulse(initialVelocity, target, guess);
++			Translation3d guessVelocity = getRequiredExitVelocity(initialVelocity, target, guess);
+ 			double guessSpeed = guessVelocity.getNorm();
+ 			double difference = speed - guessSpeed;
+ 
+ 			// we've already hit zero height and are trying to go lower
+ 			if (guess <= 0 && difference < 0)
+ 				return Optional.empty();
+ 
+ 			if (Math.abs(difference) <= tolerance)
+ 				return Optional.of(guessVelocity);
+ 
+ 			guess += difference * 1.7; // experimentally determined value
+ 		}
+ 
+ 		return Optional.empty();
+ 	}
  }