New shooter model and auto tester

src/main/deploy/pathplanner/paths/Shoot driving across.path

@@ -53,11 +53,11 @@
       },
       "prevControl": {
         "x": 1.9337461053582308,
-        "y": 1.9128436544318115
+        "y": 1.912843654431812
       },
       "nextControl": {
         "x": 1.9315103048981825,
-        "y": 1.4128486532604976
+        "y": 1.4128486532604971
       },
       "isLocked": false,
       "linkedName": null
@@ -81,7 +81,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.5,
+    "maxVelocity": 0.8,
     "maxAcceleration": 10.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
@@ -95,7 +95,7 @@
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 0,
+    "velocity": 0.0,
     "rotation": 180.0
   },
   "useDefaultConstraints": false

src/main/deploy/pathplanner/paths/Shoot driving vertical.path

@@ -1,118 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 2.956,
-        "y": 4.0
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 2.707930530821583,
-        "y": 4.031008683647302
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.3,
-        "y": 4.0
-      },
-      "prevControl": {
-        "x": 1.5499999999999998,
-        "y": 4.0
-      },
-      "nextControl": {
-        "x": 1.05,
-        "y": 4.0
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.9559102564102573,
-        "y": 4.0
-      },
-      "prevControl": {
-        "x": 2.7118639603594925,
-        "y": 3.9457652751099213
-      },
-      "nextControl": {
-        "x": 3.199956552461022,
-        "y": 4.054234724890079
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.3,
-        "y": 4.0
-      },
-      "prevControl": {
-        "x": 1.5434594129947146,
-        "y": 4.0568112156556175
-      },
-      "nextControl": {
-        "x": 1.0565405870052855,
-        "y": 3.9431887843443825
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.0,
-        "y": 4.0
-      },
-      "prevControl": {
-        "x": 2.7532300973825357,
-        "y": 3.9599423520140395
-      },
-      "nextControl": {
-        "x": 3.2467699026174643,
-        "y": 4.040057647985961
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.3,
-        "y": 4.0
-      },
-      "prevControl": {
-        "x": 1.526511041060335,
-        "y": 4.105795785727803
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 1.5,
-    "maxAcceleration": 10.0,
-    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 180.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 180.0
-  },
-  "useDefaultConstraints": false
-}

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 180;
+  public static final int GIT_REVISION = 181;
-  public static final String GIT_SHA = "89a1f34a4a4751acadc1509890fed15d6d870930";
+  public static final String GIT_SHA = "3c1b94a2d86a624a9320493a0240ee552491beca";
-  public static final String GIT_DATE = "2026-03-20 23:50:03 MDT";
+  public static final String GIT_DATE = "2026-03-21 13:04:40 MDT";
   public static final String GIT_BRANCH = "MiraOrg";
-  public static final String BUILD_DATE = "2026-03-21 13:00:47 MDT";
+  public static final String BUILD_DATE = "2026-03-21 13:30:10 MDT";
-  public static final long BUILD_UNIX_TIME = 1774119647384L;
+  public static final long BUILD_UNIX_TIME = 1774121410165L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java

@@ -39,7 +39,7 @@ public class    ShooterConstants {
     public static final ConfigurableDouble POS_OFFSET = new ConfigurableDouble("Positive offset", 8.);
 
     
-    public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1);
+    public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", -1.1);
 
     // Shoot mode tolerances
     public static final ConfigurableDouble ROBOT_MIN_HUB = new ConfigurableDouble("Shoot min dist M", 1.8);

src/main/java/frc4388/robot/subsystems/shooter/ShooterReal.java

@@ -141,6 +141,8 @@ public class ShooterReal implements ShooterIO {
         //     Math.abs(currentLimit.in(Amps)) > current &&
         //     Math.abs(targetVelocity.in(RotationsPerSecond)) > velocity
         // ) {
+            state.motor1TargetVelocity = RotationsPerSecond.of(percentOutput);
+            state.motor2TargetVelocity = RotationsPerSecond.of(percentOutput);
             m_shooter1Motor.set(percentOutput);
             m_shooter2Motor.set(percentOutput);
         // } else {

src/main/java/frc4388/robot/subsystems/swerve/SwerveDrive.java

@@ -416,19 +416,20 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
 
     // Drive with the robot facing towards a specific position
     public void driveFacingPosition(Translation2d leftStick, Translation2d fieldPos, double aimLeadTime) {
-        // Get the current speed of the robot
+        Translation2d robotSpeedYOnly = new Translation2d(0, chassisSpeeds.vyMetersPerSecond);
-        Translation2d robotSpeed = new Translation2d(
+        double yDistance = Math.abs(getPose2d().getTranslation().getY() - fieldPos.getY());
-            chassisSpeeds.vxMetersPerSecond, 
+        if ((chassisSpeeds.vyMetersPerSecond >0 &&getPose2d().getTranslation().getY() >4)||(chassisSpeeds.vyMetersPerSecond <0 &&getPose2d().getTranslation().getY() <4)){
-            chassisSpeeds.vyMetersPerSecond
+        if (Math.abs(chassisSpeeds.vyMetersPerSecond) > 0.2) {
-        );
+            if (TimesNegativeOne.isRed){
-
+                    robotSpeedYOnly = new Translation2d(-SwerveDriveConstants.FAR_OFFSET.get() * yDistance * (getPose2d().getTranslation().getX()-7.28989525), chassisSpeeds.vyMetersPerSecond);
-        // Calculate a point to aim ahead of the actual position.
+            } else {
-        Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
+                robotSpeedYOnly = new Translation2d((getPose2d().getTranslation().getX())* yDistance* SwerveDriveConstants.FAR_OFFSET.get(), chassisSpeeds.vyMetersPerSecond);
-
+            }
-        // Calculate the angle between the current position and the lead position
+        } }
+        Translation2d fieldPosLead = robotSpeedYOnly.times(aimLeadTime).plus(fieldPos);
         Rotation2d ang = getPose2d().getTranslation().minus(fieldPosLead).getAngle();
-
+        Pose2d fieldPosLeadLog = new Pose2d(fieldPosLead, new Rotation2d());
-
+        Logger.recordOutput("Lead Aim", fieldPosLeadLog);
         driveFieldAngle(leftStick, ang);
     }
 
@@ -541,13 +542,9 @@ public class SwerveDrive extends SubsystemBase implements Queryable {
     }
 
     public void enableRotationOverride(Translation2d fieldTarget, double aimLeadTime, Translation2d fieldPos) {
-        Translation2d robotSpeed = new Translation2d(
+        Translation2d robotSpeedYOnly = new Translation2d(0, chassisSpeeds.vyMetersPerSecond);
-            chassisSpeeds.vxMetersPerSecond, 
+
-            chassisSpeeds.vyMetersPerSecond
+        Translation2d fieldPosLead = robotSpeedYOnly.times(aimLeadTime).plus(fieldPos);
-        );
-        Translation2d fieldPosLead = robotSpeed.times(aimLeadTime).plus(fieldPos);
-        System.out.println("field pos lead: " + fieldPosLead);
-        Logger.recordOutput("Auto Aim", fieldPosLead);
         m_rotationOverrideTarget = fieldPosLead;
         m_useRotationOverride = true;
     }

src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java

@@ -73,8 +73,7 @@ public final class SwerveDriveConstants {
     public static final boolean INVERT_Y = true;
     public static final boolean INVERT_ROTATION = false;
 
-    public static ConfigurableDouble distanceTolerence = new ConfigurableDouble("Distance Tolerence", 0.5);
+    public static ConfigurableDouble FAR_OFFSET = new ConfigurableDouble("Far Offset", 0.05);
-
     // public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
 
     public static final class ModuleSpecificConstants { //2026