Package frc.robot.subsystems.shooter.config

Class DistanceRpmPoint

java.lang.Object

frc.robot.subsystems.shooter.config.DistanceRpmPoint

public class DistanceRpmPoint
extends Object

Single data point mapping a distance in meters to a target flywheel RPM and estimated time of flight for the distance-based shooter interpolation table.

Define an array of these in the shooter config JSON. At runtime, the subsystem builds interpolating lookup tables from these points and linearly interpolates between them to compute the target RPM and time of flight for any given distance.

Field Summary

Fields

Modifier and Type	Field	Description
double	distanceMeters	Distance from the robot to the target in meters.
double	rpm	Target flywheel RPM at this distance.
double	timeOfFlightSeconds	Estimated time of flight in seconds for a ball launched at this distance's RPM to reach the target.

Constructor Summary

Constructors

Constructor	Description
DistanceRpmPoint()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

distanceMeters

public double distanceMeters

Distance from the robot to the target in meters.

rpm

public double rpm

Target flywheel RPM at this distance.

timeOfFlightSeconds

public double timeOfFlightSeconds

Estimated time of flight in seconds for a ball launched at this distance's RPM to reach the target.

Used by the shoot-on-the-move solver to compute how far the ball drifts during flight due to inherited robot velocity. Initial estimates can be hand-tuned or generated by a projectile simulator. Set to 0.0 if unknown; the SOTM solver will fall back to a linear approximation.

Constructor Details

DistanceRpmPoint

public DistanceRpmPoint()