Package frc.robot.shotdata

Class ShotData

java.lang.Object

frc.robot.shotdata.ShotData

public class ShotData
extends Object

Stores and interpolates shooter parameters for FRC robot shooting mechanics.

Contains manually acquired shot data entries and provides interpolation functions for computing optimal flywheel speed, hood angle, and time of flight for a given target distance and current flywheel speed.

Three interpolation modes are supported:

• shootFunc - shooting into the hub
• passFunc - passing along the ground
• simFunc - simulation mode (uses ground entries)

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	ShotData.ShotEntry	Represents a single data point mapping a target distance to shooter parameters.
static final record	ShotData.ShotParameters	Encapsulates the computed shooter parameters for a single shot instance.

Field Summary

Fields

Modifier and Type	Field	Description
static ShotData.ShotEntry[]	entries	Manually acquired shot data entries used to seed the interpolation tables.
static final MulAdd<ShotData.ShotEntry>	mulAdd	Defines addition and scalar multiplication over ShotData.ShotEntry objects, enabling weighted interpolation between entries.
static final SemiGriddedBilinearInterpolation<ShotData.ShotEntry>	passFunc	Interpolation function for ground passing.
static final Distance	shooterToTargetHeightDiff	The vertical distance from the shooter to the hub target center point.
static final SemiGriddedBilinearInterpolation<ShotData.ShotEntry>	shootFunc	Interpolation function for hub shooting.
static final SemiGriddedBilinearInterpolation<ShotData.ShotEntry>	simFunc	Interpolation function for simulation.

Constructor Summary

Constructors

Constructor	Description
ShotData()

Method Summary

Modifier and Type	Method	Description
static ShotData.ShotParameters	getPassParameters(double distance, double currentFlywheelSpeed, boolean log)	Computes shooter parameters for a ground pass given the current robot state.
static ShotData.ShotParameters	getShotParameters(double distance, double currentFlywheelSpeed, boolean log)	Computes shooter parameters for a hub shot given the current robot state.

Methods inherited from class java.lang.Object

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

Field Details

entries

public static ShotData.ShotEntry[] entries

Manually acquired shot data entries used to seed the interpolation tables.

Each entry specifies a target distance, flywheel speed, hood angle, and time of flight. Time-of-flight values do not need to be precise.

shooterToTargetHeightDiff

public static final Distance shooterToTargetHeightDiff

The vertical distance from the shooter to the hub target center point.

Computed as the difference between the hub's top center Z coordinate and the configured shooter height from Constants.

mulAdd

public static final MulAdd<ShotData.ShotEntry> mulAdd

Defines addition and scalar multiplication over ShotData.ShotEntry objects, enabling weighted interpolation between entries.

shootFunc

public static final SemiGriddedBilinearInterpolation<ShotData.ShotEntry> shootFunc

Interpolation function for hub shooting. Interpolates over hub-targeted ShotData.ShotEntry data keyed by flywheel speed and distance.

passFunc

public static final SemiGriddedBilinearInterpolation<ShotData.ShotEntry> passFunc

Interpolation function for ground passing. Interpolates over ground-pass ShotData.ShotEntry data keyed by flywheel speed and distance.

simFunc

public static final SemiGriddedBilinearInterpolation<ShotData.ShotEntry> simFunc

Interpolation function for simulation. Uses the same ground-pass entries as passFunc.

Constructor Details

ShotData

public ShotData()

Method Details

getShotParameters

public static ShotData.ShotParameters getShotParameters(double distance,
 double currentFlywheelSpeed,
 boolean log)

Computes shooter parameters for a hub shot given the current robot state.

Interpolates the hood angle and time of flight from the shot table, and looks up the desired flywheel speed.

Parameters:

distance - distance to the hub target in meters

currentFlywheelSpeed - current flywheel speed in rotations per second

log - if true, logs all parameters via AdvantageKit

Returns:

computed ShotData.ShotParameters for this shot

getPassParameters

public static ShotData.ShotParameters getPassParameters(double distance,
 double currentFlywheelSpeed,
 boolean log)

Computes shooter parameters for a ground pass given the current robot state.

Behaves identically to getShotParameters(double, double, boolean) but uses passFunc for interpolation, targeting ground-pass trajectories.

Parameters:

distance - distance to the pass target in meters

currentFlywheelSpeed - current flywheel speed in rotations per second

log - if true, logs all parameters via AdvantageKit

Returns:

computed ShotData.ShotParameters for this pass