Update at 'Sat Apr 11 12:54:56 EDT 2026'

Author: SirBeans

src/main/kotlin/com/team4099/robot2026/subsystems/superstructure/shooter/Shooter.kt

@@ -505,8 +505,12 @@ class Shooter(private val io: ShooterIO) : ControlledByStateMachine() {
       distanceToShooterMap.put(3.0.meters, 40.rotations.perSecond)
       distanceToShooterMap.put(3.48.meters, 45.5.rotations.perSecond)
       distanceToShooterMap.put(3.94.meters, 49.5.rotations.perSecond)
+      distanceToShooterMap.put(4.07.meters, 50.rotations.perSecond)
       distanceToShooterMap.put(4.34.meters, 50.25.rotations.perSecond)
+      distanceToShooterMap.put(4.58.meters, 52.rotations.perSecond)
       distanceToShooterMap.put(4.85.meters, 52.5.rotations.perSecond)
+      distanceToShooterMap.put(5.45.meters, 57.rotations.perSecond)
+      distanceToShooterMap.put(5.95.meters, 62.5.rotations.perSecond)
 
       passingShooterMap.put(2.meters, 27.75.rotations.perSecond)
       passingShooterMap.put(2.5.meters, 32.5.rotations.perSecond)
@@ -516,13 +520,13 @@ class Shooter(private val io: ShooterIO) : ControlledByStateMachine() {
     }
 
     fun distanceToShooterRPM(distanceToTarget: Length): AngularVelocity {
-      if (1.95.meters <= distanceToTarget && distanceToTarget <= 4.9.meters) {
+      if (1.78.meters <= distanceToTarget && distanceToTarget <= 5.9.meters) {
         return distanceToShooterMap.get(distanceToTarget)
       }
       return max(
           ShooterConstants.VELOCITIES.MINIMUM_LAUNCH_VELOCITY,
           min(
-              (8.999075 * distanceToTarget.inMeters + 11.44).rotations.perSecond,
+              (8.42104 * distanceToTarget.inMeters + 13.25).rotations.perSecond,
               ShooterConstants.VELOCITIES.MAXIMUM_LAUNCH_VELOCITY))
     }