From 3f60a91184f885329a19aba3475c0848f6688c6a Mon Sep 17 00:00:00 2001
From: Ray Healy <raymond.m.healy@gmail.com>
Date: Sat, 21 Feb 2026 15:28:20 -0500
Subject: [PATCH] trajectory/ballistics/constraints/BCEvalParams: Define
 generators for candidate shooter velocity (field and robot relative)

---
 .../ballistics/constraints/BCEvalParams.java  | 48 +++++++++++++++++++
 .../constraints/BCEvalParamsTest.java         | 16 +++++++
 2 files changed, 64 insertions(+)

diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BCEvalParams.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BCEvalParams.java
index be3ec9b..bdbc4a2 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BCEvalParams.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BCEvalParams.java
@@ -29,6 +29,54 @@ public class BCEvalParams {
     //  Setup
     //
 
+    public static BCEvalParams genSetShooterVelocity(
+        Velocity3d  candidateShooterVelocity
+    ) {
+        return genSetShooterVelocity(
+            Velocity3d.zero, Units.Degrees.zero(), Velocity3d.zero,
+            candidateShooterVelocity
+        );
+    }
+
+    public static BCEvalParams genSetShooterVelocity(
+        Velocity3d  robotVelocity,
+        Angle       robotAngle,
+        Velocity3d  currentShooterVelocity,
+        Velocity3d  candidateShooterVelocity
+    ) {
+        return new BCEvalParams(
+            robotVelocity,
+            robotAngle,
+            currentShooterVelocity,
+            candidateShooterVelocity.plus(robotVelocity)
+        );
+
+    }
+
+    public static BCEvalParams genSetShooterRelativeVelocity(
+        Velocity3d candidateShooterVelocityRelative
+    ) {
+        return genSetShooterRelativeVelocity(
+            Velocity3d.zero, Units.Degrees.zero(), Velocity3d.zero,
+            candidateShooterVelocityRelative
+        );
+    }
+
+    public static BCEvalParams genSetShooterRelativeVelocity(
+        Velocity3d robotVelocity,
+        Angle robotAngle,
+        Velocity3d currentShooterVelocity,
+        Velocity3d candidateShooterVelocityRelative
+    ) {
+        BCEvalParams toRet = genSetShooterVelocity(
+            robotVelocity,
+            robotAngle,
+            currentShooterVelocity,
+            candidateShooterVelocityRelative.rotate(robotAngle)
+        );
+        return toRet;
+    }
+
     public BCEvalParams(
         Velocity3d robotVelocity,
         Angle      robotAngle,
diff --git a/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BCEvalParamsTest.java b/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BCEvalParamsTest.java
index 217ea8e..eff55e7 100644
--- a/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BCEvalParamsTest.java
+++ b/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/constraints/BCEvalParamsTest.java
@@ -43,4 +43,20 @@ public class BCEvalParamsTest {
             "Robot Velocity and Angle"
         );
     }
+
+    @Test void testGenSetShooterVelocity() {
+        Velocity3d shooterVelocity = Velocity3d.genSpherical(2.0, -135.0, 0.0);
+        assertEquals(
+            shooterVelocity,
+            BCEvalParams.genSetShooterVelocity(shooterVelocity).getCandidateShooterVelocity()
+        );
+    }
+
+    @Test void testGenSetShooterRelativeVelocity() {
+        Velocity3d shooterRelativeVelocity = Velocity3d.genSpherical(2.0, -135.0, 0.0);
+        assertEquals(
+            shooterRelativeVelocity,
+            BCEvalParams.genSetShooterRelativeVelocity(shooterRelativeVelocity).getCandidateShooterVelocityRelative()
+        );
+    }
 }