Package com.marslib.util

Class EliteShooterMath

java.lang.Object

com.marslib.util.EliteShooterMath

public class EliteShooterMath
extends Object

Advanced Shot-On-The-Move mathematical solver ingested from Team 254 (2024). This utility calculates exact trajectory kinematics, solving the quadratic equation for time-of-flight while applying gravity and lift compensation.

Reference: Kinematics and Projectile Motion Equations are derived from "Classical Mechanics" (John R. Taylor) Section 2.4 - Projectile Motion with Air Resistance and adapted for FRC by Team 254 (2024 Whitepaper: "Hitting the Target on the Fly").

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	EliteShooterMath.EliteShooterSetpoint	Data class for holding calculated Elite Shooter parameters.

Constructor Summary

Constructors

Constructor	Description
EliteShooterMath()

Method Summary

Modifier and Type	Method	Description
static EliteShooterMath.EliteShooterSetpoint	calculateShotOnTheMove(edu.wpi.first.math.geometry.Pose2d robotPose, edu.wpi.first.math.kinematics.ChassisSpeeds fieldRelativeSpeeds, edu.wpi.first.math.geometry.Translation3d targetTranslation, double releaseHeightZ, double nominalShotSpeedMetersPerSec, double gravity, double liftCoefficient, EliteShooterMath.EliteShooterSetpoint setpoint)	Mathematically solves the exact shot state needed to hit a 3D target given current robot speeds and constraints.

Methods inherited from class java.lang.Object

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

Constructor Details

EliteShooterMath

public EliteShooterMath()

Method Details

calculateShotOnTheMove

public static EliteShooterMath.EliteShooterSetpoint calculateShotOnTheMove(edu.wpi.first.math.geometry.Pose2d robotPose,
 edu.wpi.first.math.kinematics.ChassisSpeeds fieldRelativeSpeeds,
 edu.wpi.first.math.geometry.Translation3d targetTranslation,
 double releaseHeightZ,
 double nominalShotSpeedMetersPerSec,
 double gravity,
 double liftCoefficient,
 EliteShooterMath.EliteShooterSetpoint setpoint)

Mathematically solves the exact shot state needed to hit a 3D target given current robot speeds and constraints.

Parameters:

robotPose - Current field-relative robot pose

fieldRelativeSpeeds - Current field-relative speeds of the chassis

targetTranslation - Exact 3D field coordinates of the target

releaseHeightZ - Height of the robot's shooter mechanism from the floor

nominalShotSpeedMetersPerSec - Base shot velocity output limit

gravity - Gravity constant (typically -9.81)

liftCoefficient - Aerodynamic Magnus lift coefficient (1/m). Relates lift acceleration to velocity squared: a_lift = liftCoefficient × v². Typical values: 0.05–0.15 for FRC game pieces. Set to 0.0 to disable lift compensation.

setpoint - Reference to a pre-allocated EliteShooterSetpoint to mutate and return

Returns:

The same setpoint instance populated with computed values