From 80a7626c00e5683e608de05f05b3ef597a59441f Mon Sep 17 00:00:00 2001
From: Ray Healy <raymond.m.healy@gmail.com>
Date: Tue, 10 Feb 2026 20:37:14 -0500
Subject: [PATCH] src/robolib/trajectory/ballistics: Added function to get
 total travel time for ReversableRadialBM

Feeds posTarget.getMeasureX() into
this.getTimeAtX()
---
 .../ballistics/models/ReversableRadialBM.java          | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ReversableRadialBM.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ReversableRadialBM.java
index 513d2df..032c6a7 100644
--- a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ReversableRadialBM.java
+++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ReversableRadialBM.java
@@ -56,4 +56,14 @@ public abstract class ReversableRadialBM<P> extends BallisticModel<P> {
         );
         return this.getTimeAtRadius(candidate, radialDistance);
     }
+
+    /**
+     * Get the time to target on a given candidate trajectory
+     * 
+     * @param candidate The generated velocity to compute against
+     * @return The time it takes to travel to the target position
+     */
+    public Time getTimeAtTarget(Velocity3d candidate) {
+        return this.getTimeAtX(candidate, posTarget.getMeasureX());
+    }
 }