Shoot on the move.

src/main/deploy/tuning/arc.json

@@ -7,17 +7,20 @@
                 {
                     // Shoot cmd
                     "distance" : 1.48,
-                    "velocity" : 54.0
+                    "velocity" : 54.0, 
+                    "hangtime" : 1.8
                 },
                 {
                     // Shoot cmd
                     "distance" : 1.60,
-                    "velocity" : 56.0
+                    "velocity" : 56.0, 
+                    "hangtime" : 1.8
                 },                
                 {
                     // Shoot cmd
                     "distance" : 1.80,
-                    "velocity" : 61.0
+                    "velocity" : 61.0, 
+                    "hangtime" : 1.8
                 }
             ]
         },
@@ -27,22 +30,26 @@
                 {
                     // Shoot cmd
                     "distance" : 2.0,
-                    "velocity" : 54.0
+                    "velocity" : 54.0, 
+                    "hangtime" : 1.8
                 },                
                 {
                     // Shoot cmd
                     "distance" : 2.20,
-                    "velocity" : 56.0
+                    "velocity" : 56.0, 
+                    "hangtime" : 1.8
                 },
                 {
                     // Shoot mode                    
                     "distance" : 2.40,
-                    "velocity" : 59.0
+                    "velocity" : 59.0, 
+                    "hangtime" : 1.8
                 },
                 {
                     // Shoot mode
                     "distance" : 2.60,
-                    "velocity" : 61.0
+                    "velocity" : 61.0, 
+                    "hangtime" : 1.8
                 }
             ]
         },
@@ -52,32 +59,38 @@
                 {
                     // Shoot cmd
                     "distance" : 2.8,
-                    "velocity" : 56
+                    "velocity" : 56, 
+                    "hangtime" : 1.8
                 },                
                 {
                     // Shoot cmd
                     "distance" : 3.0,
-                    "velocity" : 58
+                    "velocity" : 58, 
+                    "hangtime" : 1.8
                 },
                 {
                     // Shoot cmd
                     "distance" : 3.2,
-                    "velocity" : 59
+                    "velocity" : 59, 
+                    "hangtime" : 1.8
                 },      
                 {
                     // Shoot cmd
                     "distance" : 3.4,
-                    "velocity" : 61
+                    "velocity" : 61, 
+                    "hangtime" : 1.8
                 },                             
                 {
                     // Shoot cmd
                     "distance" : 3.60,
-                    "velocity" : 63.0
+                    "velocity" : 63.0, 
+                    "hangtime" : 1.8
                 },
                 {
                     // Shoot cmd
                     "distance" : 3.8,
-                    "velocity" : 64.0
+                    "velocity" : 64.0, 
+                    "hangtime" : 1.8
                 }
             ]
         },
@@ -87,22 +100,26 @@
                 {
                     // Shoot cmd
                     "distance" : 4.00,
-                    "velocity" : 60.0
+                    "velocity" : 60.0, 
+                    "hangtime" : 1.8
                 },
                 {
                     // Shoot cmd
                     "distance" : 4.3,
-                    "velocity" : 62.0
+                    "velocity" : 62.0, 
+                    "hangtime" : 1.8
                 },
                 {
                     // Shoot cmd
                     "distance" : 4.6,
-                    "velocity" : 64.0
+                    "velocity" : 64.0, 
+                    "hangtime" : 1.8
                 },
                 {
                     // Shoot cmd
                     "distance" : 5.25,
-                    "velocity" : 73.0
+                    "velocity" : 73.0, 
+                    "hangtime" : 1.8
                 }                
             ]
         }

src/main/java/frc/robot/Constants.java

@@ -36,10 +36,16 @@ public final class Constants {
     // Sets the currently running robot. Change to SIMBOT when running the
     // desktop physics simulation so AdvantageKit runs in SIM mode instead of
     // falling back to REPLAY.
+    //REMEMBER TO CHANGE BACK TO COMPETITION!
     private static final RobotType robotType = RobotType.COMPETITION;
 
     public static final boolean spawnLessFuelInSim = true;
 
+    public static final boolean shootOnMove = true;
+
+    public static final double speedMultiplierShooting = 0.2; 
+    public static final double speedMultiplierFerrying = 0.8; 
+
     public static class DriveConstants {
         public static final double slowModeJoystickMultiplier = 0.4;
     }

src/main/java/frc/robot/RobotContainer.java

@@ -217,8 +217,8 @@ public RobotContainer() {
         if (hopper_ == null) {
             hopper_ = new Hopper(new HopperIO() {});
         }
-
-        // Force Load Apriltag Layout
+        
+        // Force Preload Static Apriltag Layout
         for (var tag : FieldConstants.layout.getTags()) {
             System.out.println("Tag Loaded: " + tag.ID);
         }
@@ -230,7 +230,11 @@ public RobotContainer() {
             () -> -gamepad_.getRightX()
         );
 
-        RobotState.initialize(drivebase_::getPose);
+        RobotState.initialize(
+            drivebase_::getPose,
+            drivebase_::getFieldChassisSpeeds,
+            shooter_::getTuning
+        );
 
         // Initialize the visualizers.
         Mechanism3d.measured.zero();
@@ -285,19 +289,17 @@ private void configureBindings() {
         // While the left trigger is held, we will run the intake. If the intake is stowed, it will also deploy it.
         gamepad_.leftTrigger().or(operatorGamepad_.leftTrigger()).whileTrue(RobotCommands.intake(intake_, hopper_));
 
-        // While the right trigger is held, we will shoot into the hub or ferry. Binding A to the shaking of the shooter.
+        // While the right trigger is held, we will shoot into the hub or ferry.
         gamepad_.rightTrigger().or(operatorGamepad_.rightTrigger())
             .whileTrue(RobotCommands.shoot(shooter_, hopper_, intake_, drivebase_, gamepad_.a().or(operatorGamepad_.a())));
 
-        // When the shooter isnt shooting, get it ready to shoot.
-        shooter_.setDefaultCommand(shooter_.idleCommand());
-
-        //While the X button is held, the intake will run the eject sequence. If it the intake is stowed, it will also deploy it.
-
+        // While the X button is held, the intake will run the eject sequence. If it the intake is stowed, it will also deploy it.
         operatorGamepad_.x().whileTrue(intake_.hopperEjectSequence().alongWith(hopper_.reverseFeed()));
-
         operatorGamepad_.y().whileTrue(RobotCommands.ejectUp(shooter_, hopper_));
 
+        // When the shooter isnt shooting, stow it.
+        shooter_.setDefaultCommand(shooter_.idleCommand());
+
         // Bind dashboard button to refreshing the tuning.
         var refreshTuningButton = new LoggedNetworkBoolean("/Tuning/RefreshTuning", false);
         new Trigger(refreshTuningButton::get)