From afdfed6fd5442a719b033b8bc19dd86c6cbeffb0 Mon Sep 17 00:00:00 2001
From: Ray Healy <raymond.m.healy@gmail.com>
Date: Sat, 28 Feb 2026 08:43:04 -0500
Subject: [PATCH] trajectory/ballistics/models/ConstantBM: Save args

---
 .../ballistics/models/ConstantBM.java         | 73 ++++++++++++++++++-
 1 file changed, 69 insertions(+), 4 deletions(-)

diff --git a/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ConstantBM.java b/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ConstantBM.java
index 7d7e341..480a222 100644
--- a/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ConstantBM.java
+++ b/lib/src/test/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/models/ConstantBM.java
@@ -2,6 +2,8 @@ package org.fairportrobotics.frc.robolib.trajectory.ballistics.models;
 
 import java.util.ArrayList;
 import java.util.HashSet;
+import java.util.LinkedList;
+import java.util.List;
 
 import org.fairportrobotics.frc.robolib.trajectory.Velocity3d;
 
@@ -10,6 +12,19 @@ import edu.wpi.first.units.measure.Distance;
 import edu.wpi.first.units.measure.Time;
 
 public class ConstantBM extends ReversableRadialBM<Integer> {
+
+    //
+    //  Internal classes
+    //
+
+    public record PositionAtTimeArgs(Velocity3d velocity, Time time) {};
+    public record GetTimeAtPosArgs(Velocity3d candidate, Distance radialDistance) {};
+
+
+    //
+    //  Fields
+    //
+
     private Velocity3d    velocityResult;
     private Translation3d positionResult;
     private Time          revResult;
@@ -20,6 +35,18 @@ public class ConstantBM extends ReversableRadialBM<Integer> {
 
     private HashSet<Integer> computedParams;
 
+    public List<Integer>            getNeighborParamsArgs;
+    public List<Integer>            getCandidateVelocityArgs;
+    public List<PositionAtTimeArgs> getPositionAtTimeArgs;
+    public List<GetTimeAtPosArgs>   getTimeAtRadiusArgs;
+    public List<GetTimeAtPosArgs>   getTimeAtXRelativeArgs;
+    public List<GetTimeAtPosArgs>   getTimeAtYRelativeArgs;
+    public List<GetTimeAtPosArgs>   getTimeAtXArgs;
+    public List<GetTimeAtPosArgs>   getTimeAtYArgs;
+    public List<Velocity3d>         getTimeAtTargetArgs;
+
+
+    public List<Integer> paramComputedArgs;
 
     //
     //  Setup code
@@ -43,38 +70,51 @@ public class ConstantBM extends ReversableRadialBM<Integer> {
         this.minParam       = 0;
         this.maxParam       = 0;
         this.computedParams = new HashSet<>();
-    }
 
+        this.getNeighborParamsArgs      = new LinkedList<>();
+        this.getCandidateVelocityArgs   = new LinkedList<>();
+        this.getPositionAtTimeArgs      = new LinkedList<>();
+        this.getTimeAtRadiusArgs        = new LinkedList<>();
+        this.getTimeAtXRelativeArgs     = new LinkedList<>();
+        this.getTimeAtYRelativeArgs     = new LinkedList<>();
+        this.getTimeAtXArgs             = new LinkedList<>();
+        this.getTimeAtYArgs             = new LinkedList<>();
+        this.getTimeAtTargetArgs        = new LinkedList<>();
+    }
 
     public ConstantBM setVelocityResult(Velocity3d velocityResult) {
         this.velocityResult = velocityResult;
         return this;
     }
 
+    public ConstantBM setPositionResult(Distance x, Distance y, Distance z) {
+        return this.setPositionResult(new Translation3d(x, y, z));
+    }
 
     public ConstantBM setPositionResult(Translation3d positionResult) {
         this.positionResult = positionResult;
         return this;
     }
 
-
     public ConstantBM setRevResult(Time revResult) {
         this.revResult = revResult;
         return this;
     }
 
-
     public ConstantBM setInitParam(int initParam) {
         this.initParam = initParam;
         return this;
     }
 
-
     public ConstantBM setMinParam(int minParam) {
         this.minParam = minParam;
         return this;
     }
 
+    public ConstantBM setMaxParam(int maxParam) {
+        this.maxParam = maxParam;
+        return this;
+    }
 
     //
     //  Parameter manipulation
@@ -86,6 +126,7 @@ public class ConstantBM extends ReversableRadialBM<Integer> {
 
 
     public Integer[] getNeighborParams(Integer param) {
+        this.getNeighborParamsArgs.add(param);
         ArrayList<Integer> neighbors = new ArrayList<>();
         if(param-1 >= minParam) neighbors.add(param-1);
         if(param+1 <= maxParam) neighbors.add(param+1);
@@ -98,12 +139,14 @@ public class ConstantBM extends ReversableRadialBM<Integer> {
     //
 
     public Velocity3d getCandidateVelocity(Integer param) {
+        this.getCandidateVelocityArgs.add(param);
         this.computedParams.add(param);
         return this.velocityResult;
     }
 
 
     public Translation3d positionAtTime(Velocity3d velocity, Time time) {
+        this.getPositionAtTimeArgs.add(new PositionAtTimeArgs(velocity, time));
         return this.positionResult;
     }
 
@@ -113,15 +156,37 @@ public class ConstantBM extends ReversableRadialBM<Integer> {
     //
 
     public Time getTimeAtRadius(Velocity3d candidate, Distance radialDistance) {
+        this.getTimeAtRadiusArgs.add(new GetTimeAtPosArgs(candidate, radialDistance));
         return revResult;
     }
 
+    public Time getTimeAtXRelative(Velocity3d candidate, Distance xDistance) {
+        this.getTimeAtXRelativeArgs.add(new GetTimeAtPosArgs(candidate, xDistance));
+        return super.getTimeAtXRelative(candidate, xDistance);
+    }
+
+    public Time getTimeAtYRelative(Velocity3d candidate, Distance yDistance) {
+        this.getTimeAtYRelativeArgs.add(new GetTimeAtPosArgs(candidate, yDistance));
+        return super.getTimeAtYRelative(candidate, yDistance);
+    }
+
+    public Time getTimeAtX(Velocity3d candidate, Distance xDistance) {
+        this.getTimeAtXArgs.add(new GetTimeAtPosArgs(candidate, xDistance));
+        return super.getTimeAtXRelative(candidate, xDistance);
+    }
+
+    public Time getTimeAtY(Velocity3d candidate, Distance yDistance) {
+        this.getTimeAtYArgs.add(new GetTimeAtPosArgs(candidate, yDistance));
+        return super.getTimeAtY(candidate, yDistance);
+    }
+
 
     //
     //  Candidate tracking
     //
 
     public boolean paramComputed(Integer param) {
+        this.paramComputedArgs.add(param);
         return this.computedParams.contains(param);
     }