From 138dfc5d7ff2df92da025a103ade7c1c12f3f8f1 Mon Sep 17 00:00:00 2001
From: Ray Healy <raymond.m.healy@gmail.com>
Date: Sat, 14 Mar 2026 09:53:06 -0400
Subject: [PATCH] trajectory/ballistics/calculators/BCResult: Make into a
 record class

---
 .../ballistics/calculators/BCResult.java      | 20 ++++++++-----------
 .../HillDescentBallisticCalculator.java       |  2 +-
 2 files changed, 9 insertions(+), 13 deletions(-)

diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/BCResult.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/BCResult.java
index 21a17fc..1db05af 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/BCResult.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/BCResult.java
@@ -2,19 +2,15 @@ package org.fairportrobotics.frc.robolib.trajectory.ballistics.calculators;
 
 import org.fairportrobotics.frc.robolib.trajectory.ballistics.constraints.BCEvalParams;
 
-public class BCResult {
-    public final Double         penalty;    /// The penalty for the computed launcher velocity (null if invalid)
-    public final BCEvalParams   evalParams; /// The BCEvalParams instance that produced the best penalty
-
-
-    public BCResult(
-        Double          penalty,
-        BCEvalParams    evalParams
-    ) {
-        this.penalty    = penalty;
-        this.evalParams = evalParams;
-    }
+/**
+ * Record type for ballistic calculator results
+ */
+public record BCResult(Double penalty, BCEvalParams evalParams) {
 
+    /**
+     * Checks if the result is valid (i.e. checks if penalty != null)
+     * @return True if the evalParams evaluates as valid, false otherwise
+     */
     public boolean isValid() {
         return this.penalty != null;
     }
diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/HillDescentBallisticCalculator.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/HillDescentBallisticCalculator.java
index 8e30e7d..9c49f4a 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/HillDescentBallisticCalculator.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/HillDescentBallisticCalculator.java
@@ -45,7 +45,7 @@ public class HillDescentBallisticCalculator extends BallisticCalculator {
                 if(model.paramComputed(param)) continue;
 
                 BCResult result = this.evalSingleCandidate(model, param, robotVelocity, robotAngle, shooterVelocity);
-                if(result.penalty < bestResult.penalty) {
+                if(result.isValid() && result.penalty() < bestResult.penalty()) {
                     bestParam           = param;
                     bestResult          = result;
                     foundImprovement    = true;