Test Again

Author: C0DE-Z

absolutelib.json

@@ -1,7 +1,7 @@
 {
     "fileName":  "absolutelib.json",
     "name":  "absolutelib",
-    "version":  "1.3.7-BETA",
+    "version":  "1.3.7-TEST",
     "frcYear":  "2026",
     "uuid":  "a604c6de-3573-4ba6-ae4f-32778238b9de",
     "mavenUrls":  [
@@ -13,7 +13,7 @@
                              {
                                  "groupId":  "ca.team4308",
                                  "artifactId":  "absolutelib-java",
-                                 "version":  "1.3.7-BETA"
+                                 "version":  "1.3.7-TEST"
                              }
                          ],
     "requires":  [

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

@@ -78,13 +78,13 @@ public ExampleShooter() {
                 .addEntry(8.0, 48.0, 3300);
 
         GamePiece gamePiece = GamePieces.REBUILT_2026_BALL;
-        SolverConstants.setHoopToleranceMultiplier(1);
-        SolverConstants.setBasketDescentToleranceMultiplier(1);
+        SolverConstants.setHoopToleranceMultiplier(1.5);
+        SolverConstants.setBasketDescentToleranceMultiplier(1.5);
         SolverConstants.setMinTargetDistanceMeters(0.05);
         SolverConstants.setVelocityBufferMultiplier(1.2);
         TrajectorySolver.SolverConfig solverConfig = TrajectorySolver.SolverConfig.defaults()
                 .toBuilder()
-                .hoopToleranceMultiplier(1)
+                .hoopToleranceMultiplier(1.5)
                 .minPitchDegrees(47.5)
                 .maxPitchDegrees(82.5)
                 .build();

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

@@ -1,7 +1,7 @@
 {
     "fileName": "absolutelib.json",
     "name": "absolutelib",
-    "version": "1.3.7",
+    "version": "1.3.7-BETA",
     "frcYear": "2026",
     "uuid": "a604c6de-3573-4ba6-ae4f-32778238b9de",
     "mavenUrls": [
@@ -13,7 +13,7 @@
         {
             "groupId": "ca.team4308",
             "artifactId": "absolutelib-java",
-            "version": "1.3.7"
+            "version": "1.3.7-BETA"
         }
     ],
     "requires": [],

gradle.properties

@@ -1,7 +1,7 @@
 org.gradle.workers.max=1
 
 group=ca.team4308
-version=1.3.7-BETA
+version=1.3.7-TEST
 
 org.gradle.console=plain
 org.gradle.logging.level=info

src/main/java/ca/team4308/absolutelib/math/trajectories/SolverConstants.java

@@ -25,9 +25,9 @@ private SolverConstants() {}
     /**
      * Multiplier for target radius when determining if a trajectory "hits" the target.
      * Higher values are more lenient for hoop/basket-style targets.
-     * Default: 5.0 (ball within 5x target radius counts as hit)
+     * Default: 1.5 (ball within 1.5x target radius counts as hit)
      */
-    private static double hoopToleranceMultiplier = 5.0;
+    private static double hoopToleranceMultiplier = 1.5;
 
     /**
      * Minimum horizontal distance to target (meters).
@@ -39,9 +39,9 @@ private SolverConstants() {}
     /**
      * Multiplier for target radius used in basket descent detection.
      * When ball descends and is within (targetRadius * this) horizontally, it's a hit.
-     * Default: 5.0
+     * Default: 1.5
      */
-    private static double basketDescentToleranceMultiplier = 5.0;
+    private static double basketDescentToleranceMultiplier = 1.5;
 
     // ==================== Velocity ====================
 

src/main/java/ca/team4308/absolutelib/math/trajectories/TrajectoryResult.java

@@ -50,8 +50,31 @@ public List<Pose3d> getFlightPath() {
                 validCount++;
             }
 
-            List<Pose3d> path = new ArrayList<>();
+            // Find the point of closest 3D approach to the target so the path
+            // ends near the target instead of continuing to the ground.
+            double tX = input.getTargetX();
+            double tY = input.getTargetY();
+            double tZ = input.getTargetZ();
+            int closestIndex = 0;
+            double closestDist2 = Double.MAX_VALUE;
             for (int i = 0; i < validCount; i++) {
+                ca.team4308.absolutelib.math.trajectories.physics.ProjectileMotion.TrajectoryState s = simResult.trajectory[i];
+                if (s == null) break;
+                double dx = s.x - tX;
+                double dy = s.y - tY;
+                double dz = s.z - tZ;
+                double d2 = dx * dx + dy * dy + dz * dz;
+                if (d2 < closestDist2) {
+                    closestDist2 = d2;
+                    closestIndex = i;
+                }
+            }
+            // Include a couple points past closest approach so the path visually
+            // reaches the target area, but not the entire descent to the ground.
+            int endIndex = Math.min(closestIndex + 2, validCount);
+
+            List<Pose3d> path = new ArrayList<>();
+            for (int i = 0; i < endIndex; i++) {
                 ca.team4308.absolutelib.math.trajectories.physics.ProjectileMotion.TrajectoryState state = simResult.trajectory[i];
                 if (state == null) break;
                 Translation3d translation = new Translation3d(state.x, state.y, state.z);

src/main/java/ca/team4308/absolutelib/math/trajectories/TrajectorySolver.java

@@ -145,7 +145,7 @@ public static class Builder {
             private double crtAngleResolution = 0.1;
             private int crtControlLoopMs = 20;
             private int crtEncoderTicks = 4096;
-            private double hoopToleranceMultiplier = 5.0; 
+            private double hoopToleranceMultiplier = 1.5; 
 
             public Builder minPitchDegrees(double val) { this.minPitchDegrees = val; return this; }
             public Builder maxPitchDegrees(double val) { this.maxPitchDegrees = val; return this; }
@@ -377,8 +377,8 @@ static boolean trajectoryCollidesInternal(ProjectileMotion.TrajectoryResult traj
      * without descending close enough to the target height.
      * At the point of closest horizontal approach to the target, the ball's
      * altitude must be within one target radius above the target center height.
-     * However, if the ball is actively descending (vz < 0) at that point,
-     * it is heading toward the target and is not a flyover.
+     * A ball is only exempt from the flyover check if it is actively descending
+     * AND horizontally close enough to the target to plausibly enter the opening.
      */
     private static boolean isFlyover(ProjectileMotion.TrajectoryState[] trajectory,
             double targetX, double targetY, double targetZ, double targetRadius) {
@@ -399,7 +399,12 @@ private static boolean isFlyover(ProjectileMotion.TrajectoryState[] trajectory,
             }
         }
 
-        if (vzAtBestHoriz < 0) return false;
+        double bestHorizDist = Math.sqrt(bestHorizDist2);
+
+        // Only exempt descending balls that are horizontally close to the target
+        if (vzAtBestHoriz < 0 && bestHorizDist <= targetRadius * SolverConstants.getHoopToleranceMultiplier()) {
+            return false;
+        }
 
         return heightAtBestHoriz > targetZ;
     }