vel correction setup

src/main/deploy/ShooterData.csv

@@ -1,12 +1,12 @@
-Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds) ,Duration (s),
+Distance (in) ,Hood Ext. (u) ,Drum Velocity (u/ds)
-0             ,-29.5         ,8000                 ,0,
+0             ,-29.5         ,8000
-78.5          ,-29.5         ,8000                 ,0,
+78.5          ,-29.5         ,8000
-99            ,-39.62        ,8500                 ,0,
+99            ,-39.62        ,8500
-127.25        ,-49.12        ,9500                 ,0,
+127.25        ,-49.12        ,9500
-150           ,-66.22        ,10000                ,0,
+150           ,-66.22        ,10000
-164.5         ,-75.52        ,10000                ,0,
+164.5         ,-75.52        ,10000
-186           ,-76.24        ,10000                ,0,
+186           ,-76.24        ,10000
-207           ,-104.07       ,11000                ,0,
+207           ,-104.07       ,11000
-227           ,-105.32       ,11500                ,0,
+227           ,-105.32       ,11500
-255.5         ,-105.8        ,13500                ,0,
+255.5         ,-105.8        ,13500
-999           ,-105.8        ,13500                ,0,
+999           ,-105.8        ,13500

src/main/deploy/VelocityCorrectionData.csv

@@ -0,0 +1,12 @@
+Distance (in) ,Duration (s)
+0             ,0
+78.5          ,0
+99            ,0
+127.25        ,0
+150           ,0
+164.5         ,0
+186           ,0
+207           ,0
+227           ,0
+255.5         ,0
+999           ,0

src/main/java/frc4388/robot/Constants.java

@@ -210,7 +210,7 @@ public final class Constants {
     public static final double TURRET_FORWARD_LIMIT = 0.0;
     public static final double TURRET_REVERSE_LIMIT = -95.0; //Find
       //Shooter gains for actual Drum
-    public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0); // TODO: tune values
+    public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0, 15.0, 0.05, 0, 0);
 
     /* Hood Constants */
     public static final int SHOOTER_ANGLE_ADJUST_ID = 20;

src/main/java/frc4388/robot/commands/ShooterCommands/Shoot.java

@@ -96,7 +96,7 @@ public class Shoot extends CommandBase {
    * Updates error for custom PID.
    */
   public void updateError() {
-    m_targetPoint = new Pose2d(hTargetDistanceFromHub(), vTargetDistanceFromHub(), SwerveDriveConstants.HUB_POSE.getRotation());
+    m_targetPoint = SwerveDriveConstants.HUB_POSE;
     m_targetAngle = AimToCenter.angleToCenter(m_odoX, m_odoY, driveDummy.get());
     // m_targetAngle = AimToCenter.angleToCenter(m_odoX, m_odoY, m_swerve.getRegGyro().getDegrees());
     error = (m_targetAngle - turretDummy.get() + 360) % 360;
@@ -152,43 +152,6 @@ public class Shoot extends CommandBase {
     output = kP * proportional + kI * integral + kD * derivative;
     normOutput = output/360 * inverted;
   }
-  // TODO: horizontal velocity correction
-  public double hTargetDistanceFromHub() {
-    
-    double hVel = m_swerve.getChassisSpeeds()[0];
-    double velBeforeCorrection = m_boomBoom.getVelocity(m_distance);
-    double vDistanceFromHub = m_odoY;
-    double approxTravelTime = vDistanceFromHub / velBeforeCorrection;
-    double hTargetDistanceFromHub = hVel * approxTravelTime;
-    
-    // return hTargetDistanceFromHub;
-    return 0.0; // this is for no velocity correction
-  }
-
-  public Pose2d findTargetPoint() {
-
-    // position vector and radius
-    Translation2d position = new Translation2d(m_odoX, m_odoY);
-    double radius = position.getNorm();
-
-    // equation of circle = x^2 + y^2 = m_distance^2
-    // derivative of circle = 2x + 2y * y' = 0 --> y' = -x/y
-
-    // velocity vector (x, y)
-    Translation2d cartesianVelocity = new Translation2d(m_swerve.getChassisSpeeds()[0], m_swerve.getChassisSpeeds()[1]);
-
-    // unit tangential vector
-    Translation2d tangential = new Translation2d(0, 0);
-    // velocity vector (tangential, radial)
-    Translation2d polarVelocity = new Translation2d(0, 0);
-
-    return SwerveDriveConstants.HUB_POSE;
-  }
-
-  // TODO: vertical velocity correction
-  public double vTargetDistanceFromHub() {
-    return 0.0; // this is for no velocity correction
-  }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override

src/main/java/frc4388/robot/subsystems/BoomBoom.java

@@ -48,7 +48,7 @@ public class BoomBoom extends SubsystemBase {
   // SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
 
   public static class ShooterTableEntry {
-    public Double distance, hoodExt, drumVelocity, duration;
+    public Double distance, hoodExt, drumVelocity;
   }
 
   private ShooterTableEntry[] m_shooterTable;
@@ -116,17 +116,6 @@ public class BoomBoom extends SubsystemBase {
     return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.hoodExt).doubleValue();
   }
 
-  /**
-   * This is a function that takes a value (distance) and returns a value (duration) that is a linear
-   * interpolation of the two values (duration) at the two closest points in the table (m_shooterTable)
-   * to the given value (distance).
-   * @param distance Distance in shooter table
-   * @return Shot duration in seconds
-   */
-  public Double getDuration(final Double distance) {
-    return linearInterpolate(m_shooterTable, distance, e -> e.distance, e -> e.duration).doubleValue();
-  }
-
   /**
    * Using the given lookup value (x) and lookup getter function, locates the nearest entries in the
    * given table to be used as the lower (x0) and upper (x1) bounds for interpolation. Returns the