V1.3.5

Author: C0DE-Z

CHANGELOG.md

@@ -1,6 +1,11 @@
 # Changelog for  AbsoluteLib V2
 
 
+# 1.3.5
+
+- **Debugging!**: New Website part showing greaterlogs of the trajectorys that are generated to help debug and tune it.
+- **Path Visuals**: Re-added the 3D Array of path points.
+
 ## 1.3.4
 - **Hybrid shooter system** (`ca.team4308.absolutelib.math.trajectories.shooter`): New package that combines a lookup table, physics solver, RPM feedback, and movement compensation into a unified shot-calculation pipeline.
 - **ShotLookupTable**: Fixed-size sorted lookup table with linear interpolation and edge clamping. Add tested distance/pitch/RPM entries and retrieve interpolated shot parameters in constant time.

absolutelib.json

@@ -1,7 +1,7 @@
 {
     "fileName":  "absolutelib.json",
     "name":  "absolutelib",
-    "version":  "1.3.4",
+    "version":  "1.3.5",
     "frcYear":  "2026",
     "uuid":  "a604c6de-3573-4ba6-ae4f-32778238b9de",
     "mavenUrls":  [
@@ -13,7 +13,7 @@
                              {
                                  "groupId":  "ca.team4308",
                                  "artifactId":  "absolutelib-java",
-                                 "version":  "1.3.4"
+                                 "version":  "1.3.5"
                              }
                          ],
     "requires":  [

example/example-2026-Imported/src/main/java/frc/robot/subsystems/ExampleShooter.java

@@ -20,6 +20,7 @@
 import edu.wpi.first.util.sendable.SendableBuilder;
 import edu.wpi.first.wpilibj2.command.Command;
 
+import java.util.List;
 import java.util.function.Supplier;
 
 
@@ -84,8 +85,10 @@ public ExampleShooter() {
         solver = new TrajectorySolver(gamePiece, solverConfig);
 
         shooterSystem = new ShooterSystem(config, table, solver);
-        shooterSystem.setMode(ShotMode.LOOKUP_WITH_SOLVER_FALLBACK);
+        shooterSystem.setMode(ShotMode.SOLVER_ONLY);
         shooterSystem.setFallbackShot(60.0, 3000);
+
+        solver.setDebugEnabled(true);
     }
 
     public void setPoseSupplier(Supplier<Pose2d> supplier) { this.poseSupplier = supplier; }
@@ -138,6 +141,100 @@ public void periodic() {
         Pose3d goalPose = new Pose3d(targetPosition, new Rotation3d());
         Logger.recordOutput("ExampleShooter/GoalPose3d", goalPose);
         Logger.recordOutput("ExampleShooter/GoalPose3dArray", new Pose3d[] { goalPose });
+
+        recordOutput("TargetX", targetPosition.getX());
+        recordOutput("TargetY", targetPosition.getY());
+        recordOutput("TargetZ", targetPosition.getZ());
+        recordOutput("ShooterHeight", shooterHeightMeters);
+        recordOutput("ExitVelocity", currentShot.exitVelocityMps);
+
+        logTrajectoryDebug();
+    }
+
+    private void logTrajectoryDebug() {
+        TrajectoryResult trajResult = shooterSystem.getLastTrajectoryResult();
+        if (trajResult == null) return;
+
+        recordOutput("Trajectory/Status", trajResult.getStatus().name());
+        recordOutput("Trajectory/StatusMessage", trajResult.getStatusMessage());
+        recordOutput("Trajectory/Confidence", trajResult.getConfidenceScore());
+
+        if (trajResult.isSuccess()) {
+            recordOutput("Trajectory/PitchDeg", trajResult.getPitchAngleDegrees());
+            recordOutput("Trajectory/YawAdjustDeg", trajResult.getYawAdjustmentDegrees());
+            recordOutput("Trajectory/Velocity", trajResult.getRequiredVelocityMps());
+            recordOutput("Trajectory/TimeOfFlight", trajResult.getTimeOfFlightSeconds());
+            recordOutput("Trajectory/MaxHeight", trajResult.getMaxHeightMeters());
+            recordOutput("Trajectory/Margin", trajResult.getMarginOfErrorMeters());
+            recordOutput("Trajectory/RPM", trajResult.getRecommendedRpm());
+
+            List<Pose3d> flightPath = trajResult.getFlightPath();
+            if (!flightPath.isEmpty()) {
+                Logger.recordOutput("ExampleShooter/Trajectory/FlightPath",
+                        flightPath.toArray(new Pose3d[0]));
+
+                double[] pathX = new double[flightPath.size()];
+                double[] pathY = new double[flightPath.size()];
+                double[] pathZ = new double[flightPath.size()];
+                for (int i = 0; i < flightPath.size(); i++) {
+                    pathX[i] = flightPath.get(i).getX();
+                    pathY[i] = flightPath.get(i).getY();
+                    pathZ[i] = flightPath.get(i).getZ();
+                }
+                recordOutput("Trajectory/PathX", pathX);
+                recordOutput("Trajectory/PathY", pathY);
+                recordOutput("Trajectory/PathZ", pathZ);
+                recordOutput("Trajectory/PathLength", flightPath.size());
+            }
+        }
+
+        SolveDebugInfo debug = trajResult.getDebugInfo();
+        if (debug != null) {
+            recordOutput("Debug/Enabled", true);
+            recordOutput("Debug/TotalTested", debug.getTotalTested());
+            recordOutput("Debug/Accepted", debug.getAcceptedCount());
+            recordOutput("Debug/TotalRejected", debug.getTotalRejected());
+            recordOutput("Debug/RejectedCollision", debug.getRejectedCollisionCount());
+            recordOutput("Debug/RejectedArcTooLow", debug.getRejectedArcTooLowCount());
+            recordOutput("Debug/RejectedClearance", debug.getRejectedClearanceCount());
+            recordOutput("Debug/RejectedMiss", debug.getRejectedMissCount());
+            recordOutput("Debug/RejectedFlyover", debug.getRejectedFlyoverCount());
+            recordOutput("Debug/BestScore", debug.getBestScore());
+            recordOutput("Debug/BestPitchDeg", debug.getBestPitchDegrees());
+            recordOutput("Debug/Summary", debug.getSummary());
+            recordOutput("Debug/DetailedTable", debug.getDetailedTable());
+
+            List<SolveDebugInfo.CandidateInfo> accepted = debug.getAcceptedCandidates();
+            double[] accPitch = new double[accepted.size()];
+            double[] accScore = new double[accepted.size()];
+            double[] accTOF = new double[accepted.size()];
+            double[] accMaxH = new double[accepted.size()];
+            for (int i = 0; i < accepted.size(); i++) {
+                accPitch[i] = accepted.get(i).getPitchDegrees();
+                accScore[i] = accepted.get(i).getScore();
+                accTOF[i] = accepted.get(i).getTimeOfFlight();
+                accMaxH[i] = accepted.get(i).getMaxHeight();
+            }
+            recordOutput("Debug/AcceptedPitches", accPitch);
+            recordOutput("Debug/AcceptedScores", accScore);
+            recordOutput("Debug/AcceptedTOF", accTOF);
+            recordOutput("Debug/AcceptedMaxHeight", accMaxH);
+
+            List<SolveDebugInfo.CandidateInfo> all = debug.getCandidates();
+            double[] allPitch = new double[all.size()];
+            double[] allClosest = new double[all.size()];
+            String[] allStatus = new String[all.size()];
+            for (int i = 0; i < all.size(); i++) {
+                allPitch[i] = all.get(i).getPitchDegrees();
+                allClosest[i] = all.get(i).getClosestApproach();
+                allStatus[i] = all.get(i).getRejection().name();
+            }
+            recordOutput("Debug/AllPitches", allPitch);
+            recordOutput("Debug/AllClosest", allClosest);
+            recordOutput("Debug/AllStatus", allStatus);
+        } else {
+            recordOutput("Debug/Enabled", false);
+        }
     }
 
     /**
@@ -168,10 +265,22 @@ private void updateShot() {
 
         double measuredRpm = currentRpmSupplier != null ? currentRpmSupplier.get() : 0;
 
+        shooterSystem.setSolverInputTemplate(
+            ShotInput.builder()
+                .shooterPositionMeters(shooterX, shooterY, shooterHeightMeters)
+                .shooterYawRadians(yawRad)
+                .targetPositionMeters(targetPosition.getX(), targetPosition.getY(), targetPosition.getZ())
+                .targetRadiusMeters(0.53)
+                .includeAirResistance(true)
+                .robotVelocity(vx, vy)
+        );
+
         currentShot = shooterSystem.calculate(lastDistanceMeters, measuredRpm, vx, vy, yawRad);
 
         recordOutput("RobotX", pose.getX());
         recordOutput("RobotY", pose.getY());
+        recordOutput("ShooterX", shooterX);
+        recordOutput("ShooterY", shooterY);
     }
 
     /**

example/example-2026-Imported/vendordeps/absolutelib.json

@@ -1,7 +1,7 @@
 {
     "fileName": "absolutelib.json",
     "name": "absolutelib",
-    "version": "1.3.2",
+    "version": "1.3.4",
     "frcYear": "2026",
     "uuid": "a604c6de-3573-4ba6-ae4f-32778238b9de",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "ca.team4308",
             "artifactId": "absolutelib-java",
-            "version": "1.3.2"
+            "version": "1.3.4"
         }
     ],
     "requires": [],

gradle.properties

@@ -1,7 +1,7 @@
 org.gradle.workers.max=1
 
 group=ca.team4308
-version=1.3.4
+version=1.3.5
 
 org.gradle.console=plain
 org.gradle.logging.level=info

src/main/java/ca/team4308/absolutelib/math/trajectories/shooter/MovementCompensator.java

@@ -13,7 +13,7 @@
  * {@code ShootOnTheFlyCalculator} and the hammerheads5000 {@code TurretCalculator},
  * but simplified to a linear correction term for speed and stability.</p>
  * 
- * <h3>Usage</h3>
+ * <h2>Usage</h2>
  * <pre>{@code
  * MovementCompensator comp = new MovementCompensator(config);
  * ShotParameters adjusted = comp.compensate(baseShotParams, vxMps, vyMps, yawToTargetRad);

src/main/java/ca/team4308/absolutelib/math/trajectories/shooter/RPMCorrector.java

@@ -11,7 +11,7 @@
  * <p>This corrects for battery sag, wheel slip, motor heating, and gamepiece
  * compression changes — all without a full trajectory re-solve.</p>
  * 
- * <h3>Usage</h3>
+ * <h2>Usage</h2>
  * <pre>{@code
  * RPMCorrector corrector = new RPMCorrector(config);
  * ShotParameters corrected = corrector.correct(baseShotParams, measuredRpm);

src/main/java/ca/team4308/absolutelib/math/trajectories/shooter/ShooterConfig.java

@@ -5,7 +5,7 @@
  * 
  * <p>Immutable after construction. Use the builder to create instances.</p>
  * 
- * <h3>Usage</h3>
+ * <h2>Usage</h2>
  * <pre>{@code
  * ShooterConfig config = ShooterConfig.builder()
  *     .pitchLimits(30.0, 80.0)

src/main/java/ca/team4308/absolutelib/math/trajectories/shooter/ShooterSystem.java

@@ -8,7 +8,7 @@
  * Hybrid shooter system that combines a lookup table, physics solver, RPM
  * feedback, and movement compensation into a single easy-to-use API.
  * 
- * <h3>Design Goals</h3>
+ * <h2>Design Goals</h2>
  * <ul>
  *   <li>Reliable in matches — lookup table as primary source</li>
  *   <li>Easy to tune on the practice field — just add table entries</li>
@@ -57,6 +57,7 @@ public final class ShooterSystem {
     private ShotParameters lastResult = ShotParameters.invalid("Not yet calculated");
     private SafetyValidator.ValidationResult lastValidation;
     private String lastSourceDescription = "none";
+    private TrajectoryResult lastTrajectoryResult;
 
     private ShotInput.Builder solverInputTemplate = null;
 
@@ -259,6 +260,7 @@ private ShotParameters solveWithSolver(double distanceMeters, double yawToTarget
         try {
             ShotInput input = solverInputTemplate.build();
             TrajectoryResult result = solver.solve(input);
+            lastTrajectoryResult = result;
             if (result.isSuccess()) {
                 double pitch = result.getPitchAngleDegrees();
                 double rpm = result.getRecommendedRpm();
@@ -315,6 +317,17 @@ private ShotParameters blendResults(double distanceMeters, double yawToTargetRad
     /** Returns the safety validator for direct access. */
     public SafetyValidator getSafetyValidator() { return safetyValidator; }
 
+    /**
+     * Returns the last trajectory result from the solver, or null if the solver
+     * has not been called yet.
+     *
+     * @return the last trajectory result, or null
+     */
+    public TrajectoryResult getLastTrajectoryResult() { return lastTrajectoryResult; }
+
+    /** Returns the underlying trajectory solver, or null if not configured. */
+    public TrajectorySolver getSolver() { return solver; }
+
     private static double lerp(double a, double b, double t) {
         return a + (b - a) * t;
     }

src/main/java/ca/team4308/absolutelib/math/trajectories/shooter/ShotLookupTable.java

@@ -11,7 +11,7 @@
  * interpolates between them. When the distance is outside the range the
  * closest entry is returned (clamped).</p>
  * 
- * <h3>Usage</h3>
+ * <h2>Usage</h2>
  * <pre>{@code
  * ShotLookupTable table = new ShotLookupTable()
  *     .addEntry(1.5, 75.0, 2000)