Package frc.robot.shared.targeting

Class BallFlightSimulator

java.lang.Object

frc.robot.shared.targeting.BallFlightSimulator

public class BallFlightSimulator
extends Object

Simulation-only utility that models Fuel launched from the shooter as 3D projectiles.

Each cycle the simulator checks whether the shooter and indexer are ready to fire. When they are, a new ball is spawned at the turret exit with a velocity derived from the current flywheel RPM. All active balls advance through simple projectile kinematics (gravity + drag) and their positions are logged as a Pose3d[] for AdvantageScope's 3D field view using the Fuel game piece type.

This class is not a subsystem and does not participate in the command scheduler. It is instantiated in RobotContainer only when RobotEnvironment.isSimulation() is true, and its periodic() method is called from the container's periodic loop.

Constructor Summary

Constructors

Constructor

Description

BallFlightSimulator(Supplier<edu.wpi.first.math.geometry.Pose2d> robotPoseSupplier, Supplier<Double> turretAngleDegreesSupplier, Supplier<Double> shooterRpmSupplier, Supplier<Boolean> shooterReadySupplier, Supplier<Boolean> indexerFeedingSupplier, Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> fieldVelocitySupplier, double turretZeroOffsetDegrees, double turretPivotX, double turretPivotY, double turretPivotZ, double dragCoefficient, DistanceRpmPoint[] distanceRpmPoints)

Creates the ball flight simulator with suppliers for all required robot state.

Method Summary

Modifier and Type	Method	Description
void	periodic()	Advances all in-flight balls, checks for new launches, and logs positions to AdvantageKit.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

BallFlightSimulator

public BallFlightSimulator(Supplier<edu.wpi.first.math.geometry.Pose2d> robotPoseSupplier,
 Supplier<Double> turretAngleDegreesSupplier,
 Supplier<Double> shooterRpmSupplier,
 Supplier<Boolean> shooterReadySupplier,
 Supplier<Boolean> indexerFeedingSupplier,
 Supplier<edu.wpi.first.math.kinematics.ChassisSpeeds> fieldVelocitySupplier,
 double turretZeroOffsetDegrees,
 double turretPivotX,
 double turretPivotY,
 double turretPivotZ,
 double dragCoefficient,
 DistanceRpmPoint[] distanceRpmPoints)

Creates the ball flight simulator with suppliers for all required robot state.

Parameters:

robotPoseSupplier - supplier for the current robot pose in meters and radians

turretAngleDegreesSupplier - supplier for the turret's measured angle in degrees relative to its mechanical zero

shooterRpmSupplier - supplier for the current measured flywheel RPM

shooterReadySupplier - supplier returning true when the shooter is at shooting velocity

indexerFeedingSupplier - supplier returning true when the indexer is actively feeding forward

fieldVelocitySupplier - supplier for the robot's field-relative velocity

turretZeroOffsetDegrees - turret zero offset in degrees (180 means turret faces rear at mechanical zero)

turretPivotX - turret pivot X offset from robot center in meters (positive = forward)

turretPivotY - turret pivot Y offset from robot center in meters (positive = left)

turretPivotZ - turret pivot height in meters

dragCoefficient - aerodynamic drag coefficient for the ball in flight

distanceRpmPoints - distance-RPM-TOF calibration data used to derive exit velocity from RPM

Method Details

periodic

public void periodic()

Advances all in-flight balls, checks for new launches, and logs positions to AdvantageKit.

Call once per robot loop from RobotContainer.periodic().