From f6aed3036b196bec73b84b903fec3778f6d35456 Mon Sep 17 00:00:00 2001 From: Ray Healy Date: Tue, 10 Feb 2026 20:38:56 -0500 Subject: [PATCH] src/robolib/trajectory/ballistics: Use paramComputedReset() in GreedyBallisticCalculator --- .../ballistics/calculators/GreedyBallisticCalculator.java | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/GreedyBallisticCalculator.java b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/GreedyBallisticCalculator.java index f15fb8b..95fc046 100644 --- a/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/GreedyBallisticCalculator.java +++ b/lib/src/main/java/org/fairportrobotics/frc/robolib/trajectory/ballistics/calculators/GreedyBallisticCalculator.java @@ -22,9 +22,7 @@ public class GreedyBallisticCalculator extends BallisticCalculator { Angle robotAngle, Velocity3d shooterVelocity ) { - if(initParam == null) { - initParam = model.getInitParam(); - } + model.paramComputedReset(); LinkedList

candidate_params = new LinkedList<>(); candidate_params.addFirst(initParam); @@ -32,8 +30,9 @@ public class GreedyBallisticCalculator extends BallisticCalculator { while(!candidate_params.isEmpty()) { // Evaluate the candidates P param = candidate_params.removeFirst(); - Velocity3d candidate = model.getCandidateVelocity(param); + if(model.paramComputed(param)) continue; + Velocity3d candidate = model.getCandidateVelocity(param); if(candidate != null) { BCEvalParams evalParams = new BCEvalParams(robotVelocity, robotAngle, shooterVelocity, candidate); Double penalty = this.evaluateCandidate(model, evalParams);