refined validRobotPosition checker for shooting note

added a checker the ensure that the hub opening is wide enough for the note from the robot's shooting position

src/main/java/frc/robot/subsystems/shooter/ShooterDynamics.java

@@ -14,6 +14,7 @@ public class ShooterDynamics {
 
   private static final double NOTE_WIDTH_METERS = Units.inchesToMeters(14.0);
   private static final double MAX_NOTE_DRIFT_RAD = Math.toRadians(2.0);
+  private static final double HUB_WIDTH_METERS = 1.05;
 
   // Max distance the shooter can physically attain with a still trackable trajectory (2D)
   private static final double MAX_SHOOTER_DISTANCE = Units.feetToMeters(25.0); // TODO
@@ -42,10 +43,6 @@ public static Optional<Pair<Rotation2d, ShooterState>> calculateSpeaker(
     // Ensure that the shooter could possibly make the shot with a reasonable trajectory
     if (distToTarget > MAX_SHOOTER_DISTANCE) return Optional.empty();
 
-    // TODO calculate note intersection points. Should allow for bank-shots on the inside sides of
-    // the speaker as well.
-    // If the note cant make it in at all angles within the angle bound, return empty Optional.
-
     double x = robotPose.getX();
     double y = robotPose.getY();
 
@@ -79,6 +76,11 @@ public static Optional<Pair<Rotation2d, ShooterState>> calculateSpeaker(
     // Calculate angle of robot based on robot position and aim location
     Rotation2d botAngle = Rotation2d.fromRadians(-Math.atan(x - hubX / y - hubY));
 
+    // Ensure the apparent width of the hub from the robot's vantage point is large enough for the
+    // note
+    double apparentHubWidthMeters = HUB_WIDTH_METERS * Math.cos(botAngle.getRadians());
+    if (apparentHubWidthMeters + 0.1 < NOTE_WIDTH_METERS) return Optional.empty();
+
     // Offset shooter velocity by robot's x velocity
     velocity += robotVel.getData()[0];