Package com.marswars.geometry

Class LaunchCalculator.LaunchParameters

java.lang.Object

com.marswars.geometry.LaunchCalculator.LaunchParameters

Enclosing class:

LaunchCalculator

public static class LaunchCalculator.LaunchParameters
extends Object

Container for calculated launch parameters

This class contains all the parameters needed to execute a shot, plus diagnostic information.

Field Summary

Fields

Modifier and Type	Field	Description
final double	distance	Calculated distance to target with lookahead (meters)
final double	distance_no_lookahead	Distance to target without motion compensation (meters)
final double	flywheel_speed	Flywheel speed in rad/s
final Rotation2d	heading_angle	Target heading angle to face the goal
final double	heading_velocity	Angular velocity for the heading mechanism (rad/s)
final double	hood_angle	Hood angle in radians
final double	hood_velocity	Hood angular velocity (rad/s) for feedforward
final boolean	is_valid	Whether the calculated parameters are valid (within min/max range)
final double	time_of_flight	Estimated time of flight (seconds)

Constructor Summary

Constructors

Constructor	Description
LaunchParameters(boolean is_valid, Rotation2d heading_angle, double heading_velocity, double hood_angle, double hood_velocity, double flywheel_speed, double distance, double distance_no_lookahead, double time_of_flight)

Method Summary

Modifier and Type	Method	Description
static LaunchCalculator.LaunchParameters	invalid()	Creates an invalid parameter set (for when target is out of range)

Methods inherited from class java.lang.Object

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

Field Details

is_valid

public final boolean is_valid

Whether the calculated parameters are valid (within min/max range)

heading_angle

public final Rotation2d heading_angle

Target heading angle to face the goal

ACTION REQUIRED: Set your heading mechanism's rotation setpoint to this angle. This could be:

• Robot rotation (swerve/tank drive)
• Turret rotation (if you have a turret)
• Both (robot rotation + turret for fine adjustment)

heading_velocity

public final double heading_velocity

Angular velocity for the heading mechanism (rad/s)

ACTION REQUIRED: Use this for feedforward in your heading controller (robot rotation or turret rotation) to improve tracking performance when moving

hood_angle

public final double hood_angle

Hood angle in radians

ACTION REQUIRED: Set your hood/pivot mechanism to this angle

hood_velocity

public final double hood_velocity

Hood angular velocity (rad/s) for feedforward

ACTION REQUIRED: Use this for feedforward in your hood controller to improve tracking when the shot distance is changing rapidly

flywheel_speed

public final double flywheel_speed

Flywheel speed in rad/s

ACTION REQUIRED: Set your flywheel/shooter wheels to this speed

distance

public final double distance

Calculated distance to target with lookahead (meters)

DIAGNOSTIC ONLY: This is the distance used for map lookups after accounting for motion compensation. Useful for logging and debugging.

distance_no_lookahead

public final double distance_no_lookahead

Distance to target without motion compensation (meters)

DIAGNOSTIC ONLY: This is the direct distance from launcher to target. Useful for comparing against the compensated distance to see how much the motion compensation adjusted the shot.

time_of_flight

public final double time_of_flight

Estimated time of flight (seconds)

DIAGNOSTIC ONLY: How long the projectile will be in the air. Can be useful for visualization or for timing follow-up actions.

Constructor Details

LaunchParameters

public LaunchParameters(boolean is_valid,
 Rotation2d heading_angle,
 double heading_velocity,
 double hood_angle,
 double hood_velocity,
 double flywheel_speed,
 double distance,
 double distance_no_lookahead,
 double time_of_flight)

Method Details

invalid

public static LaunchCalculator.LaunchParameters invalid()

Creates an invalid parameter set (for when target is out of range)