Package frc.robot.subsystems.shooter

Class ShooterKinematics

java.lang.Object

frc.robot.subsystems.shooter.ShooterKinematics

public class ShooterKinematics
extends Object

Calculates optimal shooter settings based on the distance to the target.

Uses InterpolatingDoubleTreeMap to interpolate between known good shooter states (flywheel speed and hood angle) for specific distances, ensuring smooth transitions as the robot moves.

Constructor Summary

Constructors

Constructor	Description
ShooterKinematics()

Method Summary

Modifier and Type	Method	Description
static Shooter.ShooterState	calculateShooterState(Distance distanceToTarget)	Calculates the optimal Shooter.ShooterState for a given distance to the target.

Methods inherited from class java.lang.Object

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

Constructor Details

ShooterKinematics

public ShooterKinematics()

Method Details

calculateShooterState

public static Shooter.ShooterState calculateShooterState(Distance distanceToTarget)

Calculates the optimal Shooter.ShooterState for a given distance to the target.

Parameters:

distanceToTarget - The distance from the shooter to the target.

Returns:

The calculated ShooterState containing target flywheel speed and hood angle.